Merge pull request #504 from gemini-hlsw/guider-gains

Guider gains
gemini-hlsw · Jan 16, 2024 · cb0c45a · cb0c45a
2 parents 1775caf + 2f4ca14
commit cb0c45a
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Showing 11 changed files with 590 additions and 152 deletions.
diff --git a/modules/epics/src/main/scala/navigate/epics/EpicsService.scala b/modules/epics/src/main/scala/navigate/epics/EpicsService.scala
@@ -6,6 +6,7 @@ package navigate.epics
 import cats.effect.Async
 import cats.effect.Resource
 import cats.syntax.option.*
+import eu.timepit.refined.types.string.NonEmptyString
 import org.epics.ca.Context
 import org.epics.ca.impl.LibraryConfiguration.PropertyNames.CA_REPEATER_DISABLE
 import org.epics.ca.impl.ProtocolConfiguration.PropertyNames.EPICS_CA_ADDR_LIST
@@ -21,19 +22,28 @@ import scala.concurrent.duration.FiniteDuration
 
 trait EpicsService[F[_]] {
   def getChannel[T](name: String)(using tjt: ToJavaType[T]): Resource[F, Channel[F, T]]
+  def getChannel[T](top: NonEmptyString, name: String)(using
+    tjt: ToJavaType[T]
+  ): Resource[F, Channel[F, T]]
 }
 
 object EpicsService {
 
   final class EpicsServiceImpl[F[_]: Async](ctx: Context) extends EpicsService[F] {
-    override def getChannel[T](
+    def getChannel[T](
       name: String
     )(using tjt: ToJavaType[T]): Resource[F, Channel[F, T]] = Resource
       .make(
         Async[F]
           .delay(ctx.createChannel[tjt.javaType](name, tjt.clazz))
       )(c => Async[F].delay(c.close()))
       .map(x => Channel.build[F, T, tjt.javaType](x)(Async[F], tjt.convert))
+
+    def getChannel[T](top: NonEmptyString, name: String)(using
+      tjt: ToJavaType[T]
+    ): Resource[F, Channel[F, T]] =
+      getChannel(s"${top.value}$name")
+
   }
 
   case class Builder(

diff --git a/modules/server/src/main/scala/navigate/server/tcs/TcsBaseControllerEpics.scala b/modules/server/src/main/scala/navigate/server/tcs/TcsBaseControllerEpics.scala
@@ -364,6 +364,12 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
       .verifiedRun(ConnectionTimeout)
 
   override def enableGuide(config: TelescopeGuideConfig): F[ApplyCommandResult] = {
+    val gains = (x: TcsCommands[F]) =>
+      if (config.dayTimeMode)
+        x.guiderGainsCommands.dayTimeGains
+      else
+        x.guiderGainsCommands.defaultGains
+
     val m1 = (x: TcsCommands[F]) =>
       config.m1Guide match {
         case M1GuideConfig.M1GuideOff        => x.m1GuideCommand.state(false)
@@ -382,7 +388,7 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
 
     config.m2Guide match {
       case M2GuideConfig.M2GuideOff               =>
-        m1(tcsEpics.startCommand(timeout)).m2GuideCommand
+        (gains >>> m1)(tcsEpics.startCommand(timeout)).m2GuideCommand
           .state(false)
           .m2GuideModeCommand
           .coma(false)
@@ -399,11 +405,7 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
           .flatMap(x => beams.map(y => (x, y)))
           .foldLeft(
             requireReset.fold(
-              tcsEpics
-                .startCommand(timeout)
-                .m2GuideResetCommand
-                .mark
-                .post
+              gains(tcsEpics.startCommand(timeout)).m2GuideResetCommand.mark.post
                 .verifiedRun(ConnectionTimeout),
               ApplyCommandResult.Completed.pure[F]
             )
@@ -412,9 +414,10 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
               // Set tip-tilt guide for each source on each beam
               // TCC adds a delay between each call. Is it necessary?
               (r === ApplyCommandResult.Completed).fold(
-                tcsEpics
-                  .startCommand(timeout)
-                  .m2GuideConfigCommand
+                gains(
+                  tcsEpics
+                    .startCommand(timeout)
+                ).m2GuideConfigCommand
                   .source(src.tag)
                   .m2GuideConfigCommand
                   .sampleFreq(200.0)
@@ -430,7 +433,7 @@ class TcsBaseControllerEpics[F[_]: Async: Parallel](
               )
             }.flatMap { r =>
               (r === ApplyCommandResult.Completed).fold(
-                m1(tcsEpics.startCommand(timeout)).m2GuideCommand
+                (gains >>> m1)(tcsEpics.startCommand(timeout)).m2GuideCommand
                   .state(true)
                   .m2GuideModeCommand
                   .coma(coma)