Commit 0545711f authored by Fabio Vitello's avatar Fabio Vitello
Browse files

#588 MedMinorServo commissioning 

this description also takes into account the previous commit (3da2d13b):
- Added servoSetup con station procedures
- Set MinorServoBossInterface on calibration tool
- Moved interval to reach start position on MedMinorServoScan init
- Taking into account of offsets on check/startScanImpl getPosition
- MedMinorServoAxis range updated
-
parent 3da2d13b

Medicina/CDB/alma/Procedures/StationProcedures/StationProcedures.xml

+6 −0
Original line number Diff line number Diff line
@@ -7,6 +7,7 @@ 
<body>

	antennaSetup=CCC

	receiversSetup=CCC

	servoSetup=CCC

	chooseBackend=TotalPower

	initialize=CCC

	setSection=0,*,730.0,*,*,*,*
@@ -21,6 +22,7 @@ 
<body>

	antennaSetup=CHC

	receiversSetup=CHC

	servoSetup=CHC

	chooseBackend=TotalPower

	initialize=CHC

	setSection=0,*,300.0,*,*,*,*
@@ -37,6 +39,7 @@ 
<body>

	antennaSetup=KKC

	receiversSetup=KKC

	servoSetup=KKC

	chooseBackend=TotalPower

	initialize=KKC

	device=0
@@ -53,6 +56,7 @@ 
<body>

	antennaSetup=XXP

	receiversSetup=XXP

	servoSetup=XXP

	chooseBackend=TotalPower

	initialize=XXP

	setSection=0,*,730.0,*,*,*,*
@@ -67,6 +71,7 @@ 
<body>

	antennaSetup=CCC

	receiversSetup=CCC

	servoSetup=CCC

	receiversMode=NARROWBANDWIDTH

	chooseBackend=TotalPower

	initialize=CCCL
@@ -84,6 +89,7 @@ 
<body>

	antennaSetup=CHC

	receiversSetup=CHC

	servoSetup=CHC

	receiversMode=NARROWBANDWIDTH

	chooseBackend=TotalPower

	initialize=CHCL

Medicina/Configuration/CDB/alma/Procedures/StationProcedures/StationProcedures.xml

+6 −0
Original line number Diff line number Diff line
@@ -7,6 +7,7 @@ 
<body>

	antennaSetup=CCC

	receiversSetup=CCC

	servoSetup=CCC

	chooseBackend=TotalPower

	initialize=CCC

	dmed=default
@@ -22,6 +23,7 @@ 
<body>

	antennaSetup=CHC

	receiversSetup=CHC

	servoSetup=CHC

	chooseBackend=TotalPower

	initialize=CHC

	dmed=default
@@ -39,6 +41,7 @@ 
<body>

	antennaSetup=KKC

	receiversSetup=KKC

	servoSetup=KKC

	chooseBackend=TotalPower

	initialize=KKC

	dmed=default
@@ -56,6 +59,7 @@ 
<body>

	antennaSetup=XXP

	receiversSetup=XXP

	servoSetup=XXP

	chooseBackend=TotalPower

	initialize=XXP

	dmed=default
@@ -71,6 +75,7 @@ 
<body>

	antennaSetup=CCC

	receiversSetup=CCC

	servoSetup=CCC

	receiversMode=NARROWBANDWIDTH

	chooseBackend=TotalPower

	initialize=CCCL
@@ -89,6 +94,7 @@ 
<body>

	antennaSetup=CHC

	receiversSetup=CHC

	servoSetup=CHC

	receiversMode=NARROWBANDWIDTH

	chooseBackend=TotalPower

	initialize=CHCL

Medicina/Servers/MedicinaMinorServo/.DS_Store

0 → 100644
+6 KiB

File added.

No diff preview for this file type.

View file

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp

+3 −4
Original line number Diff line number Diff line
@@ -14,12 +14,11 @@ struct MedMinorServoAxis_tag 
} MedMinorServoAxis;



const MedMinorServoAxis MINOR_SERVO_X = { "X", -80, 70, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_YP = { "YP", -365, 0, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_YP = { "YP", -362.5, 2.5, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_Y = { "Y", -80, 80, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_ZP = { "ZP", -340, 5, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_ZP = { "ZP", -337.5, 7.5, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_Z1 = { "Z1", -115, 115, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z2 = { "Z2", -115, 115, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z3 = { "Z3", -115, 115, 0.0, 0.05, 0.01, 14.0 };



#endif
 
 No newline at end of file

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoScan.cpp

+3 −16
Original line number Diff line number Diff line
@@ -88,17 +88,12 @@ MedMinorServoScan::init(const MedMinorServoPosition central_position, 
    m_min_start_time = MedMinorServoGeometry::min_time(m_central_position,

                                                       m_start_position);

    CUSTOM_LOG(LM_FULL_INFO, "MedMinorServoControl::MedMinorServoScan::check()",(LM_DEBUG, "min start time: %f", m_min_start_time));          

    IRA::CString out;                                                 

    m_interval_to_start_pos = MedMinorServoTime::deltaToACSTimeInterval(m_min_start_time);   

    IRA::CIRATools::intervalToStr( m_interval_to_start_pos,out);

        cout << "interval : " << (const char *) out << endl;                                          



   if(starting_time == 0){

      TIMEVALUE now;

		IRA::CIRATools::getTime(now);  

		m_starting_time = now.value().value + START_SCAN_TOLERANCE +  m_interval_to_start_pos;

		IRA::CString out;

		IRA::CIRATools::timeToStr(m_starting_time,out);

		cout << "start time :" << (const char *)out << endl; 

				m_asap = true;

    }else{

        m_starting_time = starting_time;
@@ -136,21 +131,13 @@ throw (MinorServoErrors::ScanErrorEx) 
              (LM_NOTICE, "Central position out of limits"));

        return false;

    }

///////



	IRA::CString out;

	IRA::CIRATools::timeToStr(m_starting_time,out);

	cout << "time :" << (const char *)out << endl; 



	

    if(!m_asap)

    {

        TIMEVALUE now;

        IRA::CIRATools::getTime(now);

//        ACS::TimeInterval interval =

//        MedMinorServoTime::deltaToACSTimeInterval(m_min_start_time);

        

        	IRA::CIRATools::timeToStr(now.value().value +  m_interval_to_start_pos,out);

			cout << "soglia :" << (const char *)out << endl; 



        if(m_starting_time <= (now.value().value + m_interval_to_start_pos ))

        //if(m_starting_time <= (now.value().value + m_min_start_time * 10000000))