Crate gmt_dos_clients_mount

GMT mount control model

A gmt_dos-actors client for the GMT mount control system.

Example

Commanding the elevation axis of the mount to a 1arcsec offset.

// Dependencies:
//  * tokio
//  * gmt_dos_actors
//  * gmt_dos_clients
//  * gmt_dos_clients_io
//  * gmt_dos_clients_arrow
//  * gmt_dos_clients_fem
//  * gmt-fem
//  * gmt_dos_clients_mount
//  * gmt-lom
//  * skyangle
// Environment variables:
//  * FEM_REPO
//  * LOM

use gmt_dos_actors::actorscript;
use gmt_dos_clients::{Signal, Signals};
use gmt_dos_clients_fem::{fem_io::actors_outputs::*, DiscreteModalSolver, ExponentialMatrix};
use gmt_dos_clients_io::{
    gmt_m1::M1RigidBodyMotions,
    gmt_m2::M2RigidBodyMotions,
    mount::{MountEncoders, MountSetPoint, MountTorques},
};
use gmt_dos_clients_mount::Mount;
use gmt_fem::FEM;
use gmt_lom::{OpticalMetrics, LOM};
use skyangle::Conversion;
use serde::{Deserialize, Serialize};
use gmt_mount_ctrl_controller::MountController;
use gmt_mount_ctrl_driver::MountDriver;

let sim_sampling_frequency = 1000; // Hz
let sim_duration = 20_usize; // second
let n_step = sim_sampling_frequency * sim_duration;
// FEM MODEL
let state_space = {
    let fem = FEM::from_env()?;
    println!("{fem}");
    DiscreteModalSolver::<ExponentialMatrix>::from_fem(fem)
        .sampling(sim_sampling_frequency as f64)
        .proportional_damping(2. / 100.)
        .including_mount()
        .outs::<OSSM1Lcl>()
        .outs::<MCM2Lcl6D>()
        .use_static_gain_compensation()
        .build()?
};
println!("{state_space}");
// SET POINT
let setpoint = Signals::new(3, n_step).channel(1, Signal::Constant(1f64.from_arcsec()));
// MOUNT CONTROL
let mount = Mount::new();
actorscript! {
    #[model(state = completed)]
    1: setpoint[MountSetPoint]
        -> mount[MountTorques]
            -> state_space[MountEncoders]!
                -> mount
    1: state_space[M1RigidBodyMotions]$
    1: state_space[M2RigidBodyMotions]$
}
// Linear optical sensitivities to derive segment tip and tilt
let lom = LOM::builder()
    .rigid_body_motions_record(
        (*logging_1.lock().await).record()?,
        Some("M1RigidBodyMotions"),
        Some("M2RigidBodyMotions"),
    )?
    .build()?;
let segment_tiptilt = lom.segment_tiptilt();
let stt = segment_tiptilt.items().last().unwrap();
println!("Segment TT: {:.3?}mas", stt.to_mas());

Structs

• Mount
  GMT mount control model