Implements flexure compensation #361
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… datatypes addresses issue 321
Adds SessionPool class, which on construction creates a pool of connected database sessions using a queue. Modifies the existing Database class to make use of SessionPool, retrieving/returning connections from/to the pool. Clients don't know anything about a pool. Adds helper functions to Database to insert, update and read database records. Updates database clients (sequencerd, acamd, thermald) to make use of this. This addresses Issue #314
resolve merge conflict
adds compensate functionality cleans up signal handler
and adds some test functions. ready to test.
instead of current position. This should complete flexure.
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resolves issue #304 |
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This incorporates Matt's algorithms to compensate for flexure. The basic procedure is:
Matt's position coefficients (3 per channel per axis) and flexure polynomials (20 per channel per axis) are read from the .cfg file and stored in a map indexed by the pair { channel, axis }
Matt's shift calculation function uses sine or cosine for different axes, and that is encapsulated in another map indexed by channel.
The user interface is
Flexure::Interface::compensateinvoked by sendingcompcommand to the server and for each specified axis will validate tcs telemetry, calculate the compensation, then send those offsets to the motors.flexuredsubscribes totcsdto automatically keep up to date on TCS telemetry but if telemetry is older than 10 seconds then it publishes a request for tcsd to republish telemetry.This branch was started a long time ago, so it will need some merging to catch up.This PR will remain in draft mode until any merging and testing is done.