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AOloopControl_AutoTuneGains.c
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/**
* @file AOloopControl_aorun.c
* @brief AO loop Control compute functions
*
* REAL TIME COMPUTING ROUTINES
*
* @author O. Guyon
* @date 2018-01-04
*
*
* @bug No known bugs.
*
*/
#define _GNU_SOURCE
// uncomment for test print statements to stdout
//#define _PRINT_TEST
#include <time.h>
#include <string.h>
#include <sched.h>
#include <gsl/gsl_math.h>
#include <gsl/gsl_blas.h>
#include <pthread.h>
#include "info/info.h"
//libraries created by O. Guyon
#include "CommandLineInterface/CLIcore.h"
#include "AOloopControl/AOloopControl.h"
#include "00CORE/00CORE.h"
#include "COREMOD_memory/COREMOD_memory.h"
#include "COREMOD_iofits/COREMOD_iofits.h"
#include "AOloopControl_IOtools/AOloopControl_IOtools.h"
extern AOLOOPCONTROL_CONF *AOconf; // configuration - this can be an array
extern AOloopControl_var aoloopcontrol_var;
//
// gains autotune
//
// input: modeval_ol
// APPLIES new gain values if AUTOTUNE_GAINS_ON
//
int_fast8_t AOloopControl_AutoTuneGains(long loop, const char *IDout_name, float GainCoeff, long NBsamples)
{
long IDmodevalOL;
long IDmodeval;
long IDmodeval_dm;
long IDmodeval_dm_now;
long IDmodeval_dm_now_filt;
long IDmodeWFSnoise;
long NBmodes;
char imname[200];
long m;
double diff1, diff2, diff3, diff4;
float *array_mvalOL1;
float *array_mvalOL2;
float *array_mvalOL3;
float *array_mvalOL4;
double *array_sig1;
double *array_sig2;
double *array_sig3;
double *array_sig4;
float *array_sig;
float *array_asq;
long double *ave0;
long double *sig0;
long double *sig1;
long double *sig2;
long double *sig3;
long double *sig4;
float *stdev;
float gain;
long NBgain;
long kk;
float *errarray;
float mingain = 0.01;
float maxgain = 0.3;
float gainFactor = 0.6; // advise user to be at 60% of optimal gain
float gainfactstep = 1.02;
float *gainval_array;
float *gainval1_array;
float *gainval2_array;
long long cnt = 0;
float latency;
FILE *fp;
int RT_priority = 80; //any number from 0-99
struct sched_param schedpar;
long IDout;
uint32_t *sizearray;
float gain0; // corresponds to evolution timescale
long cntstart;
long IDblk;
float *modegain;
float *modemult;
float *NOISEfactor;
long IDsync;
int TESTMODE = 0;
int TEST_m = 30;
FILE *fptest;
long iter;
float GainCoeff1 = 1.0;
schedpar.sched_priority = RT_priority;
#ifndef __MACH__
sched_setscheduler(0, SCHED_FIFO, &schedpar);
#endif
printf("AUTO GAIN\n");
fflush(stdout);
// read AO loop gain, mult
if(aoloopcontrol_var.AOloopcontrol_meminit==0)
AOloopControl_InitializeMemory(1);
AOconf[loop].AOAutoTune.AUTOTUNEGAINS_updateGainCoeff = GainCoeff;
AOconf[loop].AOAutoTune.AUTOTUNEGAINS_NBsamples = NBsamples;
gain0 = 1.0/(AOconf[loop].AOtiminginfo.loopfrequ*AOconf[loop].AOAutoTune.AUTOTUNEGAINS_evolTimescale);
// CONNECT to arrays holding gain, limit, and multf values for blocks
if(aoloopcontrol_var.aoconfID_gainb == -1)
{
if(sprintf(imname, "aol%ld_gainb", loop) < 1)
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
aoloopcontrol_var.aoconfID_gainb = read_sharedmem_image(imname);
}
if(aoloopcontrol_var.aoconfID_multfb == -1)
{
if(sprintf(imname, "aol%ld_multfb", loop) < 1)
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
aoloopcontrol_var.aoconfID_multfb = read_sharedmem_image(imname);
}
// CONNECT to arrays holding gain, limit and multf values for individual modes
if(aoloopcontrol_var.aoconfID_DMmode_GAIN == -1)
{
if(sprintf(imname, "aol%ld_DMmode_GAIN", aoloopcontrol_var.LOOPNUMBER) < 1)
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
aoloopcontrol_var.aoconfID_DMmode_GAIN = read_sharedmem_image(imname);
}
printf("aoloopcontrol_var.aoconfID_DMmode_GAIN = %ld\n", aoloopcontrol_var.aoconfID_DMmode_GAIN);
if(aoloopcontrol_var.aoconfID_MULTF_modes == -1)
{
if(sprintf(imname, "aol%ld_DMmode_MULTF", loop) < 1)
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
aoloopcontrol_var.aoconfID_MULTF_modes = read_sharedmem_image(imname);
}
// INPUT
if(sprintf(imname, "aol%ld_modeval_ol", loop) < 1) // measured from WFS
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
IDmodevalOL = read_sharedmem_image(imname);
NBmodes = data.image[IDmodevalOL].md[0].size[0];
if(sprintf(imname, "aol%ld_modeval", loop) < 1) // measured from WFS
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
IDmodeval = read_sharedmem_image(imname);
if(sprintf(imname, "aol%ld_modeval_dm", loop) < 1) // measured from WFS
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
IDmodeval_dm = read_sharedmem_image(imname);
if(sprintf(imname, "aol%ld_modeval_dm_now", loop) < 1) // current modal DM correction
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
IDmodeval_dm_now = read_sharedmem_image(imname);
if(sprintf(imname, "aol%ld_modeval_dm_now_filt", loop) < 1) // current modal DM correction, filtered
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
IDmodeval_dm_now_filt = read_sharedmem_image(imname);
// load/create aol_modeval_dm (modal DM correction at time of currently available WFS measurement)
sizearray = (uint32_t *) malloc(sizeof(uint32_t)*2);
sizearray[0] = NBmodes;
sizearray[1] = 1;
if(sprintf(imname, "aol%ld_modeWFSnoise", loop) < 1)
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
IDmodeWFSnoise = create_image_ID(imname, 2, sizearray, _DATATYPE_FLOAT, 1, 0);
COREMOD_MEMORY_image_set_createsem(imname, 10);
free(sizearray);
// blocks
if(sprintf(imname, "aol%ld_mode_blknb", loop) < 1) // block indices
printERROR(__FILE__, __func__, __LINE__, "sprintf wrote <1 char");
IDblk = read_sharedmem_image(imname);
modegain = (float*) malloc(sizeof(float)*NBmodes);
modemult = (float*) malloc(sizeof(float)*NBmodes);
NOISEfactor = (float*) malloc(sizeof(float)*NBmodes);
sizearray = (uint32_t*) malloc(sizeof(uint32_t)*3);
sizearray[0] = NBmodes;
sizearray[1] = 1;
IDout = create_image_ID(IDout_name, 2, sizearray, _DATATYPE_FLOAT, 1, 0);
COREMOD_MEMORY_image_set_createsem(IDout_name, 10);
free(sizearray);
// last open loop move values
array_mvalOL1 = (float*) malloc(sizeof(float)*NBmodes);
array_mvalOL2 = (float*) malloc(sizeof(float)*NBmodes);
array_mvalOL3 = (float*) malloc(sizeof(float)*NBmodes);
array_mvalOL4 = (float*) malloc(sizeof(float)*NBmodes);
array_sig1 = (double*) malloc(sizeof(double)*NBmodes);
array_sig2 = (double*) malloc(sizeof(double)*NBmodes);
array_sig3 = (double*) malloc(sizeof(double)*NBmodes);
array_sig4 = (double*) malloc(sizeof(double)*NBmodes);
array_sig = (float*) malloc(sizeof(float)*NBmodes);
array_asq = (float*) malloc(sizeof(float)*NBmodes);
ave0 = (long double*) malloc(sizeof(long double)*NBmodes);
sig0 = (long double*) malloc(sizeof(long double)*NBmodes);
sig1 = (long double*) malloc(sizeof(long double)*NBmodes);
sig2 = (long double*) malloc(sizeof(long double)*NBmodes);
sig3 = (long double*) malloc(sizeof(long double)*NBmodes);
sig4 = (long double*) malloc(sizeof(long double)*NBmodes);
stdev = (float*) malloc(sizeof(float)*NBmodes);
gainval_array = (float*) malloc(sizeof(float)*NBgain);
gainval1_array = (float*) malloc(sizeof(float)*NBgain);
gainval2_array = (float*) malloc(sizeof(float)*NBgain);
errarray = (float*) malloc(sizeof(float)*NBgain);
iter = 0;
for(;;)
{
// write gain, mult into arrays
for(m=0; m<NBmodes; m++)
{
unsigned short block;
block = data.image[IDblk].array.UI16[m];
modegain[m] = AOconf[loop].aorun.gain * data.image[aoloopcontrol_var.aoconfID_gainb].array.F[block] * data.image[aoloopcontrol_var.aoconfID_DMmode_GAIN].array.F[m];
modemult[m] = AOconf[loop].aorun.mult * data.image[aoloopcontrol_var.aoconfID_multfb].array.F[block] * data.image[aoloopcontrol_var.aoconfID_MULTF_modes].array.F[m];
NOISEfactor[m] = 1.0 + modemult[m]*modemult[m]*modegain[m]*modegain[m]/(1.0-modemult[m]*modemult[m]);
}
// prepare gain array
latency = AOconf[loop].AOtiminginfo.hardwlatency_frame + AOconf[loop].AOtiminginfo.wfsmextrlatency_frame;
//printf("latency = %f frame\n", latency);
NBgain = 0;
gain = mingain;
while(gain<maxgain/gainFactor)
{
gain *= gainfactstep;
NBgain++;
}
kk = 0;
gain = mingain;
while(kk<NBgain)
{
gainval_array[kk] = gain;
gainval1_array[kk] = (latency + 1.0/gain)*(latency + 1.0/(gain+gain0));
gainval2_array[kk] = (gain/(1.0-gain));
//printf("gain %4ld %12f %12f %12f\n", kk, gainval_array[kk], gainval1_array[kk], gainval2_array[kk]);
gain *= gainfactstep;
kk++;
}
// drive sem5 to zero
while(sem_trywait(data.image[IDmodevalOL].semptr[5])==0) {}
for(m=0; m<NBmodes; m++)
{
array_mvalOL1[m] = 0.0;
array_mvalOL2[m] = 0.0;
array_sig1[m] = 0.0;
array_sig2[m] = 0.0;
ave0[m] = 0.0;
sig0[m] = 0.0;
sig1[m] = 0.0;
sig2[m] = 0.0;
sig3[m] = 0.0;
sig4[m] = 0.0;
stdev[m] = 0.0;
}
if(TESTMODE==1)
fptest = fopen("test_autotunegain.dat", "w");
cnt = 0;
cntstart = 10;
while(cnt<AOconf[loop].AOAutoTune.AUTOTUNEGAINS_NBsamples)
{
sem_wait(data.image[IDmodevalOL].semptr[5]);
data.image[IDout].md[0].write = 1;
for(m=0; m<NBmodes; m++)
{
diff1 = data.image[IDmodevalOL].array.F[m] - array_mvalOL1[m];
diff2 = data.image[IDmodevalOL].array.F[m] - array_mvalOL2[m];
diff3 = data.image[IDmodevalOL].array.F[m] - array_mvalOL3[m];
diff4 = data.image[IDmodevalOL].array.F[m] - array_mvalOL4[m];
array_mvalOL4[m] = array_mvalOL3[m];
array_mvalOL3[m] = array_mvalOL2[m];
array_mvalOL2[m] = array_mvalOL1[m];
array_mvalOL1[m] = data.image[IDmodevalOL].array.F[m];
if(cnt>cntstart)
{
ave0[m] += data.image[IDmodevalOL].array.F[m];
sig0[m] += data.image[IDmodevalOL].array.F[m]*data.image[IDmodevalOL].array.F[m];
sig1[m] += diff1*diff1;
sig2[m] += diff2*diff2;
sig3[m] += diff3*diff3;
sig4[m] += diff4*diff4;
}
}
if(TESTMODE==1)
fprintf(fptest, "%5lld %+12.10f %+12.10f %+12.10f %+12.10f %+12.10f\n", cnt, data.image[IDmodeval].array.F[TEST_m], data.image[IDmodevalOL].array.F[TEST_m], data.image[IDmodeval_dm].array.F[TEST_m], data.image[IDmodeval_dm_now].array.F[TEST_m], data.image[IDmodeval_dm_now_filt].array.F[TEST_m]);
cnt++;
}
if(TESTMODE==1)
fclose(fptest);
GainCoeff1 = 1.0/(iter+1);
if(GainCoeff1 < AOconf[loop].AOAutoTune.AUTOTUNEGAINS_updateGainCoeff)
GainCoeff1 = AOconf[loop].AOAutoTune.AUTOTUNEGAINS_updateGainCoeff;
data.image[IDout].md[0].write = 1;
for(m=0; m<NBmodes; m++)
{
long kkmin;
float errmin;
ave0[m] /= cnt-cntstart;
sig0[m] /= cnt-cntstart;
array_sig1[m] = sig1[m]/(cnt-cntstart);
array_sig2[m] = sig2[m]/(cnt-cntstart);
array_sig3[m] = sig3[m]/(cnt-cntstart);
array_sig4[m] = sig4[m]/(cnt-cntstart);
// array_asq[m] = (array_sig2[m]-array_sig1[m])/3.0;
// array_asq[m] = (array_sig4[m]-array_sig1[m])/15.0;
// This formula is compatible with astromgrid, which alternates between patterns
array_asq[m] = (array_sig4[m]-array_sig2[m])/12.0;
if(array_asq[m]<0.0)
array_asq[m] = 0.0;
// WFS variance
//array_sig[m] = (4.0*array_sig1[m] - array_sig2[m])/6.0;
// This formula is compatible with astromgrid, which alternates between patterns
array_sig[m] = (4.0*array_sig2[m] - array_sig4[m])/6.0;
stdev[m] = sig0[m] - NOISEfactor[m]*array_sig[m] - ave0[m]*ave0[m];
if(stdev[m]<0.0)
stdev[m] = 0.0;
stdev[m] = sqrt(stdev[m]);
for(kk=0; kk<NBgain; kk++)
errarray[kk] = array_asq[m] * gainval1_array[kk] + array_sig[m] * gainval2_array[kk];
errmin = errarray[0];
kkmin = 0;
for(kk=0; kk<NBgain; kk++)
if(errarray[kk]<errmin)
{
errmin = errarray[kk];
kkmin = kk;
}
data.image[IDout].array.F[m] = (1.0-GainCoeff1) * data.image[IDout].array.F[m] + GainCoeff1 * (gainFactor*gainval_array[kkmin]);
}
COREMOD_MEMORY_image_set_sempost_byID(IDout, -1);
data.image[IDout].md[0].cnt0++;
data.image[IDout].md[0].cnt1 = AOconf[loop].aorun.LOOPiteration;
data.image[IDout].md[0].write = 0;
// write noise
data.image[IDmodeWFSnoise].md[0].write = 1;
data.image[IDmodeWFSnoise].md[0].cnt0++;
for(m=0;m<NBmodes;m++)
data.image[IDmodeWFSnoise].array.F[m] = array_sig[m];
COREMOD_MEMORY_image_set_sempost_byID(IDmodeWFSnoise, -1);
data.image[IDmodeWFSnoise].md[0].cnt1 = AOconf[loop].aorun.LOOPiteration;
data.image[IDmodeWFSnoise].md[0].write = 0;
if(AOconf[loop].AOAutoTune.AUTOTUNE_GAINS_ON==1) // automatically adjust gain values
{
}
fp = fopen("optgain.dat", "w");
for(m=0; m<NBmodes; m++)
fprintf(fp, "%5ld %+12.10f %12.10f %12.10f %12.10f %12.10f %6.4f %16.14f %16.14f %6.2f\n", m, (float) ave0[m], (float) sig0[m], stdev[m], sqrt(array_asq[m]), sqrt(array_sig[m]), data.image[IDout].array.F[m], array_sig1[m], array_sig4[m], NOISEfactor[m]);
fclose(fp);
printf("[%8ld] %8ld %8.6f -> %8.6f\n", iter, AOconf[loop].AOAutoTune.AUTOTUNEGAINS_NBsamples, AOconf[loop].AOAutoTune.AUTOTUNEGAINS_updateGainCoeff, GainCoeff1);
iter++;
}
free(gainval_array);
free(gainval1_array);
free(gainval2_array);
free(errarray);
free(array_mvalOL1);
free(array_mvalOL2);
free(array_mvalOL3);
free(array_mvalOL4);
free(ave0);
free(sig0);
free(sig1);
free(sig2);
free(sig3);
free(sig4);
free(array_sig1);
free(array_sig2);
free(array_sig3);
free(array_sig4);
free(array_sig);
free(array_asq);
free(modegain);
free(modemult);
free(NOISEfactor);
free(stdev);
return(0);
}