.. _rtc:

RTC supervisor ``rtc``
======================

.. module:: rtc

.. autoclass:: rtc
   :members: load, set_gain, close_loop, open_loop, stop, go, status, oneStep, manyStep

RTC class data
--------------

.. data:: pdict8x

.. data:: pdict16x

.. data:: pdict30x

    These are the dictionaries that map rtc variable names to their FITS files. 

RTC instance data
-----------------

An rtc contains instance variables for every parameter that is loaded from FITS files, plus a few
internal ones of its own. Here
are some of the important ones:

.. module:: self

.. data:: gain

    The gain of the control loop. It multiplies controlMatrix.

.. data:: controlMatrix

    The control matrix, as loaded from the FITS file.

.. data:: cm

    The control matrix after it is multiplied by the gain. This is loaded into rtc2.

.. data:: mode

    The string '8x', '16x', or '30x' depending on the wavefront sensing mode.

.. data:: loop

    Loop state - either 'open' or 'closed'

To Do
-----

There will be more capabilities added as we progress, including:

    * supervisor command to change camera frame rate(s)
    * supervisor commands to load static deformable mirror shapes
    * supervisor command to switch wavefront sensing modes (8x, 16x, 30x)
    * supervisor command to change centroider algorithms
    * some peek data will be the basis of deriving offloading commands (via KTL) (telescope track...)
    * some peek data will be pipelined into user displays (camera data, mirror commands)
    * we need to add specific support for LGS mode: tip/tilt camera processing, laser uplink tip/tilt control.
    * supervisor interface to a user-level GUI, running on another host machine