TCS Software Design Review

• Have we understood all the requirements?• Do we understand all the quirks of the hardware?• Is the design capable of doing the job?• Can it be completed with the available resources?• Can it be commissioned in an acceptable time?• Can this system be supported & maintained?

Servo system

Encoders

Drive motors

Demand posn (in encoder units)

Sky position (in RA,Dec)

Coord conversion & Pointing model

Autoguider

Instrument computer(s)

Rate generator

Encoders

Drive motors

1970s

TCS

Rate generator

Encoders

Drive motors

1970s

CAMAC

TCS

ICS

Rate generator

Encoders

Drive motors

1980s

CAMAC

TCS

(TEL)

VAX

Rate generator

Encoders

Drive motors

Late 1990s

TCS

UNIX

?

Rate generator

Encoders

Drive motors

Early 2000s

TCS

CCSGATE

UNIX

(PTCS)

(THI)

Auto- guider

PTCS

THI

Telescope independent

Telescope dependent

Hardware

GUI

Instruments

PTCS

THI

Telescope independent

Telescope dependent

Hardware

GUI

Instruments

RA, Dec

Encoder units,Motor voltages

Axis positionsin radians

PTCS

THI

Hardware

GUI

Instruments

(2) Trigger withaxis positions

(1) Read encoders

(3) Kick withdemand positions

(4) Servo control

Rate generator

Encoders

Drive motors

Early 2000s

TCS

CCSGATE

UNIX

(PTCS)

(THI)

Auto- guider

Encoders

Drive motors

2007 onwards

TCS

(PTCS)

(THI)

Auto- guider

1) Drive and Encoders

AAT-specific issues

Mouse &keyboard

Externalinstrument,AAOinterface

Externalinstrument,serialinterface

Consoleswitches

OPERATOR

T C S

Displayscreens

A & G unit

Drive motors

Consolelights

Relays

Met System

Positionencoders

Guidingcamera

Sensors

Things that tell theTCS what to do.

Things that supplyinformation to theTCS.

Things the TCScontrols.

1) Drive and Encoders

2) AAT pointing terms

AAT-specific issues

Implementation

Mouse &keyboard

Externalinstrument,AAOinterface

Externalinstrument,serialinterface

Consoleswitches

OPERATOR

T C S

Displayscreens

A & G unit

Drive motors

Consolelights

Relays

Met System

Positionencoders

Guidingcamera

Sensors

Things that tell theTCS what to do.

Things that supplyinformation to theTCS.

Things the TCScontrols.

Stage 1Restage Please

Initial obey

Last stageFinished

Restage

Stage 2Restage Please

Restage

An ADAM/DRAMA Staged Action

Stage 1Restage Please

Initial obey

Last stageFinished

Restage

Stage 2Restage Please

Restage

ADAM/DRAMA Concurrent Actions

Stage 1Restage Please

Initial obey

Stage 2Restage Please

Restage

Stage 1Restage Please

Initial obey

Last stageFinished

Restage

Stage 2Restage Please

Restage

ADAM/DRAMA Cancelling an Action

Stage 1Restage Please

Initial obey

CancelFinished

Cancel ‘Kick’

Display

Relays

Keyboard & mouse

Console guide buttons

AAO instrument

External instrument

Console lights

GUI

PTCS

THI

A & GTask

EncoderTask

Serial Task

Met.Task

AutoguiderTask

Tel. simulator

A & G unit

Drive motors

Position encodersSensorsGuiding cameraMet system

[3]

[9]

[4] [5]

[12]

[8]

[21]

[13] [14]

[17] [18] [19]

[22]

[27]

[25][24][23]

[31]

ButtonsTask

[6]

StopTask

‘STOP’ button

[2]

[1]

[7]

[11]

[10]

[16]

[20]

[15]

[29] [30]

[32]

[28][26]

Display

Relays

Keyboard & mouse

Console guide buttons

AAO instrument

External instrument

Console lights

GUI

PTCS

THI

A & GTask

EncoderTask

Serial Task

Met.Task

AutoguiderTask

Tel. simulator

A & G unit

Drive motors

Position encodersSensorsGuiding cameraMet system

[3]

[9]

[4] [5]

[12]

[8]

[21]

[13] [14]

[17] [18] [19]

[22]

[27]

[25][24][23]

[31]

ButtonsTask

[6]

StopTask

‘STOP’ button

[2]

[1]

[7]

[11]

[10]

[16]

[20]

[15]

[29] [30]

[32]

[28][26]

Testing

Servo loop testsDemand posn (in encoder units)

Sky position (in RA,Dec)

Coord conversion & Pointing model

TPOINT reverse conversion inSimulator

Same sky position (in RA,Dec) ?