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1. A A Eth Eth ee fem yen LMsoft RTSOFT AOMSOFT t tt 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 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 6 4 February 2015 Chapter 1 Overview 1 2 Software Architecture The ICSOFT is a Labview application running as a supervisory control application Figure 1 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 SLGMSOFT and TCS Remote client connections are also allowed by means of communication server tasks 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 state until it re connects or the application is terminated The ICSOFT is capable of acceptin2. Manager Modules status One of the strings DONE ACTIVE DISABLED or TBD abs_position One of the strings IN OUT or NONE WFS_f 10_Adj position A fractional string expressing the current position in mm status One of the strings DONE ACTIVE DISABLED or TBD WFS_Dimmer power One of the strings ON or OFF status One of the strings ENABLED or TBD dimmer A numeric string between 0 and 100 Sam_Cover position One of the words OPEN OUT OF TBD or CLOSE status One of the strings ENABLED or TBD 2 3 SLGMSOFT Manager VI Name Im manager Module Name LMLib 2 3 1 Status Poll VI Name Im manager status poll The status task for the SLGMSOFT Manager SLGMM polls for status every 1 second The configuration file defining the data structure exchanged between the SLGMSOFT and the IGSOFT is LGS Full Status cfg The file lives in the ICsoft config directory Not all of the elements are considered to be stored in type II global variables A short description of the selected fields follows LASER Diode On Off Standby One of the strings ON OFF or STANDBY describing the status of the LASER diode ICSOFT Programmer s Manual Rev 3 6 4 February 2015 6 Chapter 2 Manager Modules Laser Power A fractional string with the LASER power in units of WATT Fault Status One of the strings TBD describing fault conditions Chille
3. 29 ICSOFT Programmer Manual Rev 3 6 4 February 2015 APPENDIX A North East coordinates to Up Left coordinates for Gnomonic Projection APPENDIX A North East coordinates to Up Left coordinates for Gnomonic Projection UA p North VNE 6 7 N Left 4 East Figure 4 View of the celestial sphere from the outside 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 a 6 near the reference coordinate oz z is given by cos c sin 6 sin 5 cos amp cos 5 cos cos 5 sin a cos c 1 _ sin S cos 6 cos 5 sin 5 cos a cos c To move the above coordinates to the Up Left reference frame they have to be rotated by the angle between the North and Up vectors That angle is obtained using the following algorithm for a given geographic latitud refence declination z and reference hour angle H Z cos 0 sin p m cos H cos 6 sin H cos 5 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
4. BGND lt ON OFF gt WFS background subtraction BIAS lt ON OFF ACQ APPLY STATE gt WFS bias subtraction control ACQ lt frames gt Takes a WFS bias calibration by averaging frames number of frames and then save the result to disk using two names the protected name wfsbias fits and the date formatted name wfsbias YYYYMMDDTHHMMSS fits APPLY Loads the file wfsbias fits from disk and sets the RTCORE to use it CAMERA lt exposure ldf power readout reset set mancmd STATE gt exposure stop abort Idf util pci tim power onloff readout abort stop idle set binning lt val1 gt lt val2 gt set exposure lt val gt set frames lt val gt set gs lt val1 gt lt val2 gt set readout lt val gt set size lt val1 gt lt val2 gt set trigger lt val gt set roi lt val1 gt lt val2 gt lt val3 gt lt val4 gt set panoramic DM lt APPLY FLATTEN RECFLAT ROTFLAT STATE gt FLATTEN Load and apply the voltages stored in the file flattendm cfg to the DM APPLY lt Vo Vi V2 Vs9 gt Apply the given voltages to the DM RECFLAT Save the currently applied DM voltages to disk using the protected name flattendm cfg and flattendm YYYYMMDDTHHMMSS cfg ROTFLAT Load and apply the voltages stored in the file flattendm cfg including a correction factor based on the current Nasmyth rotator mechanical angle and coefficients in file DMflat_rot txt See the RTSOFT programmer s manual fo
5. ISB To reference the M3 tertiary mirror effect we use reference axes fixed to the ISB Figure 5 With the elevation ring pointing to the horizon EL 0 and the Nasmyth rotator ROT at its 0 angle position M3 introduces no change gt 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 j th EL e 0 90 sin EL cos EL lt l gt X sp ICSOFT Programmer s Manual Rev 3 6 4 February 2015 34 A ISB gt X ISB A GP gt X GP 35 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 0 360 sin ROT cos ROT WY Se 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 6 4 February 2015 APPENDIX C Dispersion Orientation Angle APPENDIX C Dispersion Orientation Angle 360 A A x GRq 90 180 Figure 7 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 telescop
6. to a good result Then by pressing the FO button GMAP interrogates ICSOFT on the current value of SOFFSETX SOFFSETY calculates the offset between the mount and the field center GPOFFSETX GPOFFSETY and sends that value back to the ICSOFT Next time you command ICSOFT to acquire a star the following transformation will be made to obtain the exact X Y GP coordinates GPX FLENGTH x cos SAMPA nsin SAMPA GPY FLENGTH x xsin SAMPA ncos SAMPA 4 2 GPX GP1X GPOFFSETX GPAPDX OPOFFSETX GPY GPiY GPOFFSETY GPAPDY OPOFFSETY 4 3 The keywords FLENGTH GPAPDX GPAPDY OPOFFSETX and OPOFFSETY are defined in the icsoft ini configuration file It is possible to GET SET them on the fly via the GET SET interface commands ICSOFT Programmer s Manual Rev 3 6 4 February 2015 24 Chapter 5 Range Gate Chapter 5 Range Gate Here is how the Range Gate parameters are calculated from the two parameters LGS Distance d and LGS Gate g Figure 3 in units of Km g Figure 3 Range Gate parameters are calculated from the two parameters LGS Distance d and LGS Gate g From the RTSOFT programmer manual we need to set the DELAY and DISTANCE parameters DELAY is the delay in ns between the falling edge of the LASER sync pulse and the ON pulse to the Pockels Cell driver DELAY is obtained then as 2 x d 9 5 1 C 2 DELAY where c is the speed of light in units of Km ns DISTANCE is the delay between t
7. 1 Always Data Acquisition Normal TCS manager aom_task_manager_launcher Mq2 Always Data Acquisition Normal AOM manager rtc_task_manager_launcher Mg3 Always Data Acquisition Normal RTC manager Im_task_manager_launcher Ma4 Always Data Acquisition Normal LGS manager ICSOFT Programmer s Manual Rev 3 6 4 February 2015 10 Chapter 3 Scripting Chapter 3 Scripting The ICSOFT integrates the 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 GP1F sam command LOG GPlflux 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 gt MOVE INNER lt OUTER gt With no arguments use mount elevation angle to obtain the prism angles AOM lt GUIDERP GUIDERP2 gt Forward Guide Probe co
8. 2 Chapter 3 Scripting MEANFLUX BIAS BGND RTC AO LOOP LTIME RO V VCM RTC TT LOOP CTLR FULLBW LTIME GP1F GP2F GP1W GP2W GP1X GP1Y GP2X GP2Y GP1LOCK GP2LOCK RTC MOUNT LOOP RTC LLT LOOP CTLR PZT1OFFSET PZT2OFFSET GET AOMS AOMS Guider P1 X position pos_zpoint status AOMS Guider P1 Y position pos_zpoint status AOMS Guider P2 X position pos_zpoint status AOMS Guider P2 Y position pos_zpoint status AOMS Focus P1 position status init AOMS Focus P2 position status init AOMS G Dimmer P1 power status dimmer AOMS G_Dimmer_P2 power status dimmer AOMS Output Selector position status abs_position trajectory init AOMS TS Ph Screen 1 position status abs_position AOMS TS Ph Screen 2 position status abs_position AOMS TS Source Adj X position statusJabs position AOMS TS Source Adj Y position statusJabs position AOMS TS Dimmer power status dimmer AOMS TS Phase Plate ph_plate1_status ph_plate1_vel AOMS TS Phase Plate ph_plate2_status ph_plate2_vel AOMS TS Phase Screen screen1_pos screen2_pos power1 power2 status1 status2 AOMS TS_Source_Adj s_adjx_status s_adjy_status sourcex_vel sourcey_vel AOMS TS_Inj_Arm position power status AOMS Filter Wheel position status AOMS WES Focus position status abs_position init AOMS WES Ref Beam position power status 1 The parameters listed here correspond to the status definition contained in configuration file AOM_Mecha
9. 6 4 February 2015 30 APPENDIX A North East coordinates to Up Left coordinates for Gnomonic Projection 1 7 x m p x m x 2 ee IE el l m x gt 030 2n 0 Then the transformation is obtained by multiplying the north east coordinates by the rotation matrix cos 0 sin sin 0 cos 9 31 ICSOFT Programmer Manual Rev 3 6 4 February 2015 APPENDIX B Up Left coordinates to SAM Guide Probe coordinates APPENDIX B Up Left coordinates to SAM Guide Probe coordinates Up 4 la Left Vise Figure 5 Telescope pointing to the horizon and rotator angle 0 Up 4 The image to the left is the telescope 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 0 1 Left 33 ICSOFT Programmer Manual Rev 3 6 4 February 2015 APPENDIX B Up Left coordinates to SAM Guide Probe coordinates 270 180 90 Figure 6 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
10. CS HA Telescope hour angle TCS AZ Telescope azimuth TCS ZD Telescope zenith distance TCS EL Telescope elevation TCS EPOCH Coordinates epoch TCS LST Siderial time TCS DITHER Dither value in numeric control ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 3 Scripting TCS FOFFSET Telescope offset value in numeric control INFO 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 RO WSPEED VARCM INSTRMT DMLOOP FTIME WFSFLX WFSFOC M3LOOP APDTIME APDHV P1LIGHT P2LIGHT MNTLOOP LLTLOOP RGPOWER RGDELAY LGSDIST LQUALTY LPOWER LSHUT LLTDOOR ADC ADCIN ADCOUT VIFOLD SAM operation mode TSNGS NGS TSLGS or LGS Estimated Fried parameter in m Estimated wind speed in m s Variance of corrected modes in rad42 Name of selected instrument SAMI VISITOR etc DM mirror loop ON or OFF Frame time in ms WES flux in Ke s per sub aperture WES focus in mm M3 mirror loop ON or OFF APDs sample time in ms APDs high voltage ON or OFF Guide probe 1 light ON or OFF Guide probe 2 light ON or OFF Mount loop ON or OFF LLT loop ON or OFF Range gate power ON or OFF Range gate delay in ns Laser guide star distance in Km Laser quality Laser power ON or OFF Laser intra cavity shutter OPEN or CLOSE Launch laser telescope environmental door OPEN or CLOSE ADC compensation ON or OFF A
11. DC inner element position ADC outer element position Visitor instrument fold IN or OUT ICSOFT Programmer s Manual Rev 3 6 4 February 2015 16 17 Chapter 3 Scripting REFLIGHT WES reference light ON or OFF REFARM WES reference arm IN or OUT TSDISK TURSIM disk rotation ON or OFF TSFOLD TURSIM fold IN or OUT TSLIGHT TURSIM light ON or OFF MODDOOR Environmental module door OPEN or CLOSE LM lt M1 gt Forwards commands to the LMSOFT LM LM ATP ON OFF M1 MOVE lt M1X gt lt M1Y gt M1X and M1Y in units of mm M2 MOVE lt VALUE gt VALUE in units of mm M4 MOVE lt A1 gt lt A2 gt A1 and A2 in the rage 1 1 SAFETYSHUTTER MOVE IN OUT LLT Forward Laser Launch Telescope commands to LMSOFT LLT FAN ON OFF LLT POWERSUPPLY ON OFF LLT SHUTTER OPEN CLOSE LASER Forward Laser Box commands to LMSOFT LASER DIODE ON OFF LASER POWERSUPPLY ON OFF LASER SHUTTER OPEN CLOSE LOG lt ARG gt lt ARG gt lt ARGn gt Log the arguments to the ICSOFT log file and to the Events and Messages display RMFAULTS Use this command to clear all faults latched by the system If the ALARM led indicator in the ICSOFT is lite it will have the effect of turning that light off RTC lt AO DM TT gt Forwards commands to the RTSOFT AO lt OPEN CLOSE STATE gt Open Close the AO loop ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 3 Scripting
12. GLE OUTER DA ANGLE The two angles are then 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 27 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 7 Telemetry Chapter 7 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 ID Global Variable Telemetry Keyword 0 TCHANNEL 00 30V Power Supply 1 TCHANNEL 01 30V APD 1 2 TCHANNEL 02 BOV 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 13 ATP 12V 14 LLT LASER Diode
13. IC Software Programmer s Manual SOAR Adaptive Module SAM Revision Rev 3 6 4 February 2015 oO NOAG TAR Change Record Version Date Description Owner Name 3 5 March 14 2013 Modulate command documented RCR 3 6 March 25 2013 RCR 3 6 1 June 7 2013 Add reference for LM M4 command RCR 3 6 2 December 2 2013 Refinements in section 4 1 RCR 3 6 3 February 12 2015 Add missing RTC LLT options in section 3 1 RCR 3 6 4 February 17 2015 Add reference to RMFAULTS command RCR Table of Contents Chapter i Overilew GEE Ker tists sada AAS TEIRA OTRA R E A E RAAR Rade dra cata 1 B d f aL OCU TG s is de EE GN GE DE E a AR Ae 1 1 2S0ftware Architecture Ee Ee Ee EG Ge seve TACA dean ee ee ee ee ee 2 TSS OUECE Code kies De ED AE Ge N EG Ge ee 2 Chapter 2 Manager Modules issie sees ees see Ee Vee NR oe GE GEND ese SEE ne eek NE GE Ge RE AE ek see ee ENE de se Re 4 2 1RTSOFT Control Manag et is eie eo nes a RE EE N ee EE Ee De E oe een eet 4 2 2AOMSOFT Control ManaBer dee suits word be RR ee ose cain sae Ge Se Ge Ee EG Ee Ge OG N Ge ee 5 2 4SLGEMSOET Manag er ii Se ee EE Se SR N SG Ee Ge ee ge GE iE ee E 6 2 3 Stats POU iss arg EO E EE E EG Ee ab dr N OE nade 6 2ATES M na EL ee Se N N Ee Ge De ee E eo ee Ga Let 9 25Esecution Pliread SE EE SE ER EE Se GE Oe EG EE ee Ee Oo ee ee N se ge 9 Ghapt r 3 Serpe soe ee EE DS Se IIS ath AA QO Sah Se GE EE Ee N as 11 3 LLocal Ee u
14. LLT fan status ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 2 Manager Modules status One of the strings DONE or TBD LLTAnalogInput LLT_Temp A fractional string expressing the current LLT temperature in units of C Prosilica A fractional string expressing the current voltage applied to the camera in units of V LaserDiode A fractional string expressing the current voltage applied to the LLT LASER diode in units of V status One of the strings DONE or TBD LaserDigitallIO_B Interlock One of the strings TBD or TBD indicating if an interlock has been engaged Heater One of the strings ON or OFF indicating the state of the LASER box heater SafetyShutter_In Laser box safety shutter IN limit switch status SafetyShutter_Out Laser box safety shutter OUT limit switch status PiezoAnalogInput PZT1 A fractional string expressing the current voltage applied to the PZT1 in units of V Input1 A fractional string PZT2 A fractional string expressing the current voltage applied to the PZT2 in units of V Input2 A fractional string PZT3 A fractional string expressing the current voltage applied to the PZT3 in units of V Input3 A fractional string status One of the strings DONE DISABLE or TBD TempLaserBox temperature A fractional string expressing the current temperature inside the laser box IBOOT state One of the strings ON o
15. SOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 2 Manager Modules Chapter 2 Manager Modules Managers modules encapsulate all the specifics involved in the interaction with each SAM subsystem connection integrity status polling loops command routing etc All managers act as clients using the SOAR Communication Library SCL infrastructure and 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 state until it re connects or the application is terminated A status task within the manager is in charge of continuously polling for status data from the server The polling can be activated deactivated from the GUI for debugging purposes though If a timeout occurs while waiting for a status response from the server the link to the server is automatically closed and a reconnection cycle to the server starts up Otherwise the response is passed to a parser VI that de serializes the data using a configuration file as a data mode definition Each de serialized sample is then analyzed to set warnings and alarms accordingly 2 1 RTSOFT Control Manager The status task for the RTSOFT Control Manager RTCM polls for status every 1 second The configuration file defining the data structure exchanged between the RTSOFT and the ICSOFT is rtc_status cfg The two files live in the Icsoft config directory Not all of the elements are considered A s
16. _TelemetryStatus_Default cfg 3 The parameters listed here correspond to the status definition contained in configuration file LGS_Full_Status cfg ICSOFT Programmer s Manual Rev 3 6 4 February 2015 14 15 Chapter 3 Scripting LMS LLTDigitalIO Prosilica LaserDiode status LMS LLTDigitalIO LLTMotors LLT motors power supply status ON OFF LMS LLTDigitallIO FANPower LLT fan status ON OFF LMS LLTAnalogInput PhM1 X1 PhM1 X2 PhM1 Y1 PhM1 Y2 PhM2 LMS LLTAnalogInput LLT_Temp Prosilica LaserDiode LLTMotors FANPower LMS LLTAnalogInput status LMS LaserDigitallO A FloodDetector EmergencyChiller EmergencyLaserDoor LMS LaserDigitallO A EmergencyConsole SLCHCommFail RS485CommFail LMS LaserDigitallO_A status LMS LaserDigitallO B Key_interlock Interlock LMS LaserDigitallO_B SafetyShutter_In Laser box safety shutter status LMS LaserDigitallO_B SafetyShutter_Out Laser box safety shutter status LMS LaserDigitallO B Watchdog_Monitoring Heater GreenLaser status LMS IBOOT state Remote power outlet status ON OFF LMS PiezoAnalogInput PZT1 Input1 Voltage PZT2 Input2 PZT3 Input3 LMS PiezoAnalogInput status LMS TempLaserBox temperature setpoint status heater GET TCS TCS POSANG Position angle in degrees TCS RMA Rotator mechanical angle in degrees TCS M3POS M3 turret position TCS RA Telescope right ascension TCS DEC Telescope declination T
17. e 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 position over SAM focal plane in Xcp Ycp coordinates as DA DA cos ROT sin ROT sin ROT cos ROT cos EL sin EL sin EL cos EL sl 0 0 0 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 7 37 ICSOFT Programmer Manual Rev 3 6 4 February 2015 APPENDIX C Dispersion Orientation Angle BAL 90 DAS ICSOFT Programmer s Manual Rev 3 6 4 February 2015 1 38
18. figuration file RGATE lt ON OFF MODE DELAY DISTANCE PWIDTH PPERIOD gt MODE lt AUTO LASER Use to select between AUTO and LASER sync modes for ON OFF pulse generation DELAY lt VALUE gt In LGS mode the delay in ns between the falling edge of the TRIGGER OUT signal and the ON pulse to the Pockels Cell high voltage driver DISTANCE lt VALUE gt The delay in ns between the falling edge of the ON pulse and the rising edge of the OFF pulse to the Pockels Cell high voltage driver PWIDTH lt VALUE gt The width on ns for the ON and OFF pulses to the Pockels Cell high voltage driver PPERIOD lt VALUE gt In TSLGS mode the time period in ns of the ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 3 Scripting pulse train RMFAULT Clear alarms RNOISE lt ADU gt Set the readout noise value in the RTCORE If the max value in a sub aperture is smaller than three times this value then the slopes are discarded and zero is returned instead RT lt ARG gt lt ARG gt lt ARGy gt RTCORE interface SDSU lt ARG gt lt ARG gt lt ARGn gt LEACH II controller interface SETREF lt REVERT OFFSET gt Without arguments attempts to measure the reference positions for each sub aperture REVERT Use the revert option to remove all user applied offsets to the measured reference positions OFFSET lt ID IDy IDm gt ID lt OX gt lt OY gt Add a user defined off
19. g remote procedure calls RPC from other systems acting as a server using SCL over TCP IP The command interface is of the type lt command gt lt arg1 gt lt arg2 gt lt argN gt 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 1 3 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 its 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 ICSOFT Programmer s Manual Rev 3 6 4 February 2015 2 Chapter 1 Overview macro scritps To access the code is recommended to start by opening the main VI first cd home ao ICsoft labview Icsoft vi IC
20. he falling edge of the ON pulse and the rising edge of the OFF pulse to the Pockels Cell driver DISTANCE 2 X Pulse Width 5 2 Since the Pockels Cell opens on rising edge the Pulse Width has to be taken into account 25 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 6 Atmospheric Dispersion Correction Chapter 6 Atmospheric Dispersion Correction The ADC task is implemented by the icsoft_task_adc_logic V1 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 Appendix C 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 lt 1 ANGLE 90 0 RAD2DEG asin STRENGTH tan zd else ANGLE 90 0 DA DAO SIGN OFFSET INNER DA AN
21. hese 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 VI Name parse service instrument command Module PARSELIB Default behavior is to forward the command to the ICSOFT command parser in parse_task vi and return 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 SOFFSET SX SY SAMI set the offset between a reference star and the center of the field in units of arc seconds in the X Y GP coordinate frame Parameters SX and SY are in units of arc seconds If the third argument SAMI is specified SX and SY are assumed to be X Y SAMI CCD coordinates in units of pixels no binning and translated to X Y GP coordinates See section 4 1 below for more details on how this command is implemented 3 2 2 GMAP Command Handler ECHO see section 3 1 above for a complete description GC Returns
22. hort description of the selected fields follows RGATE STATUS ON or OFF MODE AUTO or LASER DELAY A fractional value in units of ns DISTANCE A fractional value in units of ns PWIDTH A fractional value in units of ns PERIOD A fractional value in units of ns LLT LOOP ON or OFF PZT1OFFSET A fractional value in units of V ICSOFT Programmer s Manual Rev 3 6 4 February 2015 4 Chapter 2 Manager Modules PZT2OFFSET A fractional value in units of V 2 2 AOMSOFT Control Manager The status task for the AOMSOFT Control Manager AOMCM polls for status every 1 second The configuration files defining the data structures exchanged between the AOMSOFT and the ICSOFT are AOM_MechanismStatus_Default cfg and SAM_TelemetryStatus_Default cfg The two files live in the Icsoft config directory Not all of the elements are considered A short description of the selected fields follows G_Dimmer_P1 power One of the strings ON or OFF status One of the strings ENABLED or TBD dimmer A numeric string between 0 and 100 G_Dimmer_P2 power One of the strings ON or OFF status One of the strings ENABLED or TBD dimmer A numeric string between 0 and 100 TS_Dimmer power One of the strings ON or OFF status One of the strings ENABLED or TBD dimmer A numeric string between 0 and 100 WFS_Ref_Beam 5 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 2
23. it RE EE EE ER OE Eorsi Enetti 11 O ZREMOLe Commands ssar ee Ee Ee EE REELS EEE 20 3 2 1Instrument Command Handler se ee ee tice Pe ee eN ee ge 21 3 2 2GMAP Command Handler cicceiccccccccccccccccicccccccccccccccsrcocccscsosccseecosesecseseosesens 21 Chapter 4 Guide Star AMISH EE NG Ne Ge Ge EE Ge N Ge Se N Ee Ge Ee Ge ee og 23 4 1Interactive star selection in LGS Mode sesse esse se ee ee AA ee ee Ge Ge ee ge 23 Chapter 54 ME AN N LE AE AO ER AE N 26 Chapter 6 Atmospheric Dispersion CorTeCtON sesse se esse ee AE AG AA ed ee de 27 Chapter MES iS EE EE N EE EE N 29 APPENDIX A North East coordinates to Up Left coordinates for Gnomonic Projection 30 APPENDIX B Up Left coordinates to SAM Guide Probe coordinateS siese esse esse esse ee de ee 33 APPENDIX C Dispersion Orientation Angle esse esse esse esse ee ee ee ee ee ee ge ee RA ee ge 37 iii Chapter 1 Overview Chapter1 Overview 1 1 Introduction The SAM software suite of applications comprises a set of programs that differentiate themselves by the mission they serve SDN 8201 The suite includes the SAM Instrument Control Software ICSOFT the SAM Imager Software SAMI the SAM Motion Control Software AOMSOFT the SAM Laser Guide Star Motion Control Software Module SLGMSOFT the Laser Clearance House software and the SAM Real Time Software RTSOFT ICSOFT LABVIEW fih gt SOAR TCS
24. mmands to AOMSOFT GUIDERP lt N gt 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 AOM TURSIM Forward TURSIM commands to AOMSOFT 11 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 3 Scripting TURSIM PHSCREEN lt N gt MOVE IN OUT TURSIM PHPLATE lt N gt MOVE 0 100 TURSIM INJARM MOVE IN OUT TURSIM DIMMER ON OFF TURSIM DIMMER MOVE 0 100 TURSIM SJOGX 0 1 TURSIM SJOGY 0 1 AOM WES Forward Wave Front Sensor commands to AOMSOFT WES FOCUS MOVE FP WES REFBEAM MOVE IN OUT WES DIMMER ON OFF WES DIMMER MOVE 0 100 AOM lt ESHUTTER ADC OUTSEL gt Environmental shutter Atmospheric Dispersion Correction and Output Selector Mirror ESHUTTER MOVE OPEN CLOSE ADC MOVE IN OUT STOP ADC MOVE INNER OUTER OUTSEL MOVE IN OUT AOM lt APD ACAM HV gt Avalanche Photo Diodes Acquisition Camera and Pockell Cell High Voltage APD lt N gt ON OFF RESET ACAM ONJOFF Turn the WFS acquisition camera power on off HV ON OFF Turn the Pockel Cell high voltage on off AOM lt STATUS TELEMETRY gt STATUS TELEMETRY ECHO lt ARG gt lt ARG gt gt lt ARGn gt Simply returns the arguments back to the originator GET RTC RTC RTC FAULT LSFAULT SIMM MODE STATE RTC WES RGATE RGDELAY STATUS MIN MAX MEAN STDEV ETIME ICSOFT Programmer s Manual Rev 3 6 4 February 2015 1
25. nismStatus_Default cfg 13 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 3 Scripting AOMS WES Dimmer power status dimmer AOMS ADC Inner position status init AOMS ADC Outer position status init AOMS ADC _Position position abs_position status init AOMS Fabri Perot position abs_position status init AOMS Sam_Cover position status AOMS SHUTTER position status GET AOMT AOMT PowerSupply Telemetry APD1_30V APD2_30V APD_5V APD_2V Reserved_01 AOMT PowerSupply Prosilica_12V ProsilicaJReserved_03 Control APD1 APD2 AOMT PowerSupply Overcurrent_APD1 Overcurrent_APD2 AOMT HV Pockels_Power_supply HV_value HV_Error AOMT HV status AOMT Temperatures Glycol OAP1_area DM_areaJOAP2_area ADC_area AOMIT Temperatures Tursim_area status GET LMS LMS LASER Diode On Off Standby Laser Power Interlock Fault Status LMS LASER Diode Current Setting Diode Temperature Sense LMS LASER Chiller Temperature Shutter RF Level LMS LASER Flow Switch Set Trigger Mode LMS M4_Axis_1 position status init LMS M4_Axis_2 position status init LMS M1 X position position_X status init LMS M1 Y position position Y status init LMS M2_Focus position status init LMS LLT_Cover position status init abs_position LMS LaserSelect position status init abs_position 2 The parameters listed here correspond to the status definition contained in configuration file SAM
26. r OFF indicating the state of the LASER box 220 V remote power outlet ICSOFT Programmer s Manual Rev 3 6 4 February 2015 Chapter 2 Manager Modules 2 4 TCS Manager INFO ROTSPOS RMA IAA GUI_XY CCD_XY M3_POS Rotator mechanical angle Instrument Position Angle Instrument Alignment Angle Angulo del guider con respecto al rotador Angulo del CCD con respecto al rotador Position del M3 1 Nasmyth Right infrared 2 Bent Cass 1 3 CWFS Bent Cass 2 4 SOI Bent Cass 3 5 Nasmyth Left vosible 2 5 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 9 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 2 Manager Modules 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 Mq
27. r Temperature A fractional string with the chiller working temperature Shutter One of the strings TBD describing the state of the LASER shutter M1_X position_X A fractional string expressing the LLT M1 current x position in mm status One of the strings DONE ACTIVE DISABLED or TBD M1_Y position_Y A fractional string expressing the LLT M1 current y position in mm status One of the strings DONE ACTIVE DISABLED or TBD M2_Focus position A fractional string expressing the LLT M2 current position in mm status One of the strings DONE ACTIVE DISABLED or TBD LLT_Cover position A fractional string expressing the LLT cover current position in TBD units status One of the strings DONE ACTIVE DISABLED or TBD TBC abs_position One of the strings OPEN or CLOSED LaserSelect status One of the strings DONE ACTIVE DISABLED or TBD indicating the status of the LASER selector mechanism abs_position One of the strings IN or OUT indicating the position of the mechanism LLTDigitalIlO Prosilica One of the strings ON or OFF indicating the state of the LLT ATP camera LaserDiode One of the strings ON or OFF indicating the state of the LLT LASER diode LLTMotors One of the strings ON or OFF indicating the LLT motors power supply status FANPower One of the strings ON or OFF indicating the
28. r a detailed description ECHO lt ARG gt lt ARG gt lt ARGn gt Return all arguments EXEC lt MACRO gt execute the specified macro FLATTEN Deprecated use DM FLATTEN instead LOAD APDMAP WMAT XGRID YGRID ICSOFT Programmer s Manual Rev 3 6 4 February 2015 18 19 Chapter 3 Scripting APDBIAS lt FILENAME gt Load the bias for each APD APDMAP lt FILENAME gt Loads the quad sensor geometry WMAT lt FILENAME gt Load the weights for WcoG XGRID lt FILENAME gt Load x relative positions for WcoG YGRID lt FILENAME gt Load y relative position for WcoG LLTM1 lt CLOSE OPEN gt LLT M1 loop control LLTM3 lt CLOSE DISABLE ENABLE OPEN gt LLT M3 loop control M3 lt CLOSE DISABLE ENABLE OPEN gt M3 loop control MODE lt TSNGS NGS TSLGS LGS gt Set RTC operation mode MODULATE RADIUS PERIOD CYCLES MOUNT lt CLOSE OPEN gt Mount loop control REC FRAMES AOPERIOD TTPERIOD Use this command to record FRAMES number of wavefront sensor frames AOPERIOD seconds of AO loop data and TTPERIOD seconds of tip tilt loop data With no arguments the default values are used Set argument to a negative number to skip recording data for it The command produce four files WE YYY YMMDDTHHMMSS RAW WE YYYYMMDDTHHMMSS FITS AO YYYYMMDDTHHMMSS DAT TI YY YYMMDDTHHMMSS DAT The files are saved to an automatically generated subdirectory located in a root directory set in the RTSOFT con
29. set to sub aperture ID Without arguments return the current offset by subtracting the measured reference position to the current reference position value IDy IDm lt OX gt lt OY gt Add a user defined offset to a range of sub apertures starting at Dy and ending at IDw SLEEP lt VALUE gt Wait a number of milliseconds and return SYTEM lt ARG gt lt ARG gt lt ARGn gt RTC OS command TT lt PSCALE PWEIGHT LOCK gt PSCALE VALUE Set the seeing dependent coefficient that relates TT probes error signals to actual displacements in arc seconds PWEIGHT lt VALUE gt VALUE Set the weight for each guide probe error signal LOCK lt 0 1 gt lt 0 1 gt Control guide probe locking TTBIAS lt ON OFF WHO STATE gt lt WHO gt lt SAMPLES gt Use to select the number of counts to average to estimate the APD bias Max number is 6000 and min number is 50 Valid values for argument WHO are 0 BOTH 1 GP1 only 2 GP2 only TTP1 TTP2 OPEN CLOSE Open Close the TT loop for probe 1 or 2 ROTFLAT lt ANGLE gt Flatten the DM according to the specified rotator angle With no arguments it uses the current rotator angle as published by the TCS If the TCS is not available a rotator angle of 0 is used instead TCS lt ARG gt lt ARG gt lt ARGn gt Forward commands to the TCS TCS GET ICSOFT Programmer s Manual Rev 3 6 4 February 2015 20 Chapter 3 Scripting 3 2 Remote Commands T
30. the current RA DEC mount coordinates GP Returns the current Rotator Mechanical Angle GPOFFSET lt XOFFSET gt lt YOFFSET gt Set the offset in arc seconds between the mount coordinates and the center of the field 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 Xcmap is flipped with respect to Xsam The XYSTATUS command account for that flip and returns the correct sign to GMAP 4 Guide Star Selection Tool 21 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 3 Scripting COORDS HH MM SS DD MM SS Epoch Set the ICSOFT next object RA DEC EPOCH variables The next object coordinates can be then be used for guide star acquisition see section TBD SOFFSET SX SY SAMI set the offset between a reference star and the center of the field in units of arc seconds in the X Y GP coordinate frame Parameters SX and SY are in units of arc seconds If the third argument SAMI is specified SX and SY are assumed to be X Y SAMI CCD coordinates in units of pixels no binning and translated to X Y GP coordinates See section 4 1 below for more details on how this command is implemented ICSOFT Programmer s Manual Rev 3 6 4 February 2015 22 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 f
31. tively select a star from an image and send its coordinates to the ICSOFT By using the known coordinates of the field center in SAMI plus the field rotation and the scale the ICSOFT calculates the offset between the selected star and the field center in units of arc seconds in the X Y GP coordinate frame Dx SAMISCALE x STARX SAMIFCX DY SAMISCALE x STARY SAMIFCY SOFFSETX DX xXcos SAMIROT DY xsin SAMIROT SOFFSETY DXXsin SAMIROT DY Xcos SAMIROT 4 1 5 Looking SAM from the ISB X is parallel to the bench and positive right Y is perpendicular to the bench and positive up 6 Distance between the position where the mount is pointing and the position where the WFS field center is 23 ICSOFT Programmer Manual Rev 3 6 4 February 2015 Chapter 4 Guide Star Acquisition SAMI send the star coordinates issuing the SOFFSET command with the SAMI option at the end to accept SAMI CCD coordinates Upon receiving that command the ICSOFT calculates the offset between the field center and the star SOFFSETX SOFFSETY using the values stored in the icsoft ini configuration file SAMIFCX SAMIFCY SAMIROT and SAMISCALE 4 1 o Figure 2 The cross mark the telescope coordinates in the sky map The circle is the selected star The triangle is the field center The user has to set GMAP sky map to display the observed field and find the selected star to click in it Correct identification of the selected star is critical
32. unctionality 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 The process starts by moving the input coordinates to the epoch reported by the TCS The resulting RA Dec coordinates along with the Mount coordinates are used to obtain the gnomonic projection coordinates and n E 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 appendix A below Here those transformation are presented in their matrix form n The coordinates in units of mm are obtained multiplying x and y by the focal length of the telescope Finally the field center offset and the quad sensor offsets are added cos ROT sin ROT sin ROT cos ROT cos 0 sin 0 sin 0 cos 0 x Y cos EL 0 sin EL cos EL 0 1 While the field center offset changes depending on how bad the mount pointing is the quad sensor offsets are fixed 4 1 Interactive star selection in LGS Mode In LGS mode we use SAMI to help calibrate the guide star selection tool GMAP SAMI allows to interac
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