Tucson, SW workshop Oct 2006 FLAO WFS software Alfio Puglisi, Fabio Tosetti Osservatorio Astrofisico di Arcetri, Florence, Italy

Tucson, SW workshop Oct 2006 FLAO WFS software WFS in the AGW frame Left box Right box iDrive box Optical board Telescope beam

Tucson, SW workshop Oct 2006 FLAO WFS software From telescope network Ethernet switch BCU47BCU39 Serial#1Serial#2 Serial lines Fiber/Ethernet media converter FLAO WFS: a complex device with 4 IP hosts.

Tucson, SW workshop Oct 2006 FLAO WFS software HO CCD Controller SciMeasure Slope Computer MicroGate Custom F.O. RS485 Ethernet Cat. 5E WFS linear stages (X,Y,Z) Bayside Filter Wheel #1 Filter Wheel #2 Tip-Tilt Mirror Phys.Instrum. Pupil Rerotator Micos Interferometer Gigabit Switch AGW - on Axis Right Ethernet / Serial (A-B) AGW on-axis data communication layout Technical Viewer CCD Controller SciMeasure CCD Data Acquisition MicroGate Power Switch Atmospheric Dispersion Corrector Ethernet Cat. 5E RS232 To adaptive secondary From telescope network Temperature monitor CPE RS232 SciMeasure

Tucson, SW workshop Oct 2006 FLAO WFS software Main WFS components: Microgate BCU39 and BCU47 ● HO ccd frame grabber ● Slope computer ● Relays bank DSP FPGA Memory Fiber link Digital I/O Technical viewer frame grabber Tip-tilt sine wave generator

Tucson, SW workshop Oct 2006 FLAO WFS software Other (hardware) components ● CCD controllers ● Linear stage controllers ● Relay switches for powering on/off devices ● Pupil rerotator controller ● Stepper motor controllers for filter wheels and ADC ● Reference lamp controller ● Temperature sensors ● Various network devices

Tucson, SW workshop Oct 2006 FLAO WFS software HW control software ● One process for each hardware device ● Each process has only two interfaces: ● one socket to MsgD-RTDB ● one socket to the HW device ● Mostly written in C/C++ with a series of libraries for common functions ● Commands and answers are implemented using MsgD-RTDB variables.

Tucson, SW workshop Oct 2006 FLAO WFS software MV01STATUS MV01ERRMSG MV01CURPOS MV01LOEND MV01HIEND MV01SPEED Mv01HISPEED MV01TGTPOS Mv01ENABLE MV02STATUS MV02ERRMSG MV02CURPOS MV02LOEND MV02HIEND MV02SPEED Mv02HISPEED MV02TGTPOS Mv02ENABLE MV03STATUS MV03ERRMSG MV03CURPOS MV03LOEND MV03HIEND MV03SPEED Mv03HISPEED MV03TGTPOS Mv03ENABLE RTDB Var Set User prompt/ GUI / Automatic script RS232 over Ethernet Motor #1 SW ctrl RS232 over Ethernet Motor #2 SW ctrl RS232 over Ethernet Motor #3 SW ctrl Mx

Tucson, SW workshop Oct 2006 FLAO WFS software WFS diagnostic data: CCD frames Wavefront slopes Mirror commands Downloaded at 70 Hz (limited by protocol speed) -> an internal 4000-frames buffer is available Ethernet UDP Diagnostic process Shared memory Engineering interface Monitoring scripts

Tucson, SW workshop Oct 2006 FLAO WFS software Python classes MSGLIB MsgD RTDB MSGLIB Engineering interface Python scripts Python scripting interface C Wrapper To controller programs AO arbitrator

Tucson, SW workshop Oct 2006 FLAO WFS software Graphical & commandline Mainly Python with some custom C/C++ modules for realtime sections (like displays) Graphic library: QT using the PyQT wrapper Numeric library: Python numarray module Engineering interface Python classes MSGLIB MsgD RTDB MSGLIB C Wrapper To controller programs Graphic interface

Tucson, SW workshop Oct 2006 FLAO WFS software Calibration routines Calibration (usually) requires tight interaction between WFS and secondary mirror operations. We have a mix of Python scripts an IDL routines Python scripts are short-lived (but fully featured) MsgD-RTBD clients acquiring the calibration data. IDL used to make calculations because of the extensive math library. Examples: pupil acquisition, reconstruction matrix calculation, etc.

Tucson, SW workshop Oct 2006 FLAO WFS software Data storage Type Static calibration data Session calibration data Loop diagnostic data Description Reconstruction matrix, pixel lookup tables, reference frames, non- common path aberrations, etc. CCD darks, slope null, etc. Realtime frames, slopes and mirror commands Frequency Commissioning, changes rare Start of night/observation session During closed loop operation Size MBSome MB 2-3 MB/sec

Tucson, SW workshop Oct 2006 FLAO WFS software Summary ● Quick resume of the WFS structure ● WFS software architecture

Tucson, SW workshop Oct 2006 FLAO WFS software Shared memory buffers (fast diagnostic system) Continuous buffersSynchronous (FIFO mode) Producer Shared memory Consumer #1Consumer #2Consumer #3 Producer Shared memory Consumer

Tucson, SW workshop Oct 2006 FLAO WFS software Data storage Static calibration data Reconstruction matrix, pixel lookup tables, reference frames, etc. Changes rarely average size (currently about 30 MB total, may be 10x larger for LBT672) Session calibration data Measured at the start of each observation session (for example, CCD darks) small size (some MB per session) Loop diagnostic data Measured during both calibration and operation Potentially huge (several MB/sec if we save everything)

Tucson, SW workshop Oct 2006 FLAO WFS software Main items still TBD Finalize the WFS finite state machine (in progress) and the corresponding arbitrator Coordinate WFS and Adaptive secondary operations automatically (now done by the operator).

Tucson, SW workshop Oct 2006 FLAO WFS software N E T W O R K Example configuration: Arcetri P45 lab COMMLIB Mirror ctrl MSGLIB MsgD RTDB MSGLIB IDL process P45 prototype MSGLIB GUI Shared memory Command path Fast data path Ethernet line HW ctrl MSGLIB COMMLIB HW ctrl MSGLIB COMMLIB HW ctrl MSGLIB COMMLIB

Tucson, SW workshop Oct 2006 FLAO WFS software MVxxSTATUS MvxxERRMSG MVxxCURPOS MvxxLOEND MvxxHIEND MVxxSPEED MvxxHISPEED MVxxTGTPOS MvxxENABLE RTDB Var Set User prompt/ GUI / Automatic script Notify RS232 over Ethernet Motor Controller Typical controller configuration Two types of variable: global and private. Commands are implemented as writes to global variables. Answers as writes to private variables Mx

Tucson, SW workshop Oct 2006 FLAO WFS software MVxxSTATUS MVxxERRMSG MvxxCURPOS MVxxLOEND MvxxHIEND MVxxSPEED MvxxHISPEED MVxxTGTPOS MvxxENABLE RTDB Var Set Application Program Notify Mx RS232 over Ethernet Old stepper controller Changing a component transparently RS232 over Ethernet New stepper controller Mx

Tucson, SW workshop Oct 2006 FLAO WFS software WFS CCD Controller SciMeasure Slope Computer MicroGate Custom F.O. RS485 Ethernet Cat. 5E WFS linear stages (X,Y,Z) Bayside Filter Wheel #1 Filter Wheel #2 Tip-Tilt Mirror Phys.Instrum. Pupil Rerotator Micos Interferometer Gigabit Switch AGW - on Axis Right Ethernet / Serial (A-B) AGW on-axis data communication layout Technical Viewer CCD Controller SciMeasure CCD Data Acquisition MicroGate Power Switch Atmospheric Dispersion Corrector Ethernet Cat. 5E RS232 To adaptive secondary From telescope network Power control Temperature monitor CPE RS232

Tucson, SW workshop Oct 2006 FLAO WFS software BCU communicator UDP MV01STATUS MV01ERRMSG MV01CURPOS MV01LOEND MV01HIEND MV01SPEED Mv01HISPEED MV01TGTPOS Mv01ENABLE MV02STATUS MV02ERRMSG MV02CURPOS MV02LOEND MV02HIEND MV02SPEED Mv02HISPEED MV02TGTPOS Mv02ENABLE MV03STATUS MV03ERRMSG MV03CURPOS MV03LOEND MV03HIEND MV03SPEED Mv03HISPEED MV03TGTPOS Mv03ENABLE RTDB Var Set User prompt/ GUI / Automatic script Ctrl #1 Ctrl#2 Ctrl #3 MSGLIB MsgD RTDB MSGLIB Controlling multi-purpose BCUs

Tucson, SW workshop Oct 2006 FLAO WFS software DSP FPGA Memory Fiber link Digital I/O