Commit 089cc82e authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Fixed small bug in servos axes naming, improved logging

parent 0630c565

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp

+5 −7
Original line number Diff line number Diff line
@@ -886,6 +886,11 @@ void SRTMinorServoBossCore::getAxesInfo(ACS::stringSeq_out axes_names_out, ACS:: 
            ACS::stringSeq_var servo_axes_units;

            servo->getAxesInfo(servo_axes_names, servo_axes_units);



            std::transform(servo_axes_names->begin(), servo_axes_names->end(), servo_axes_names->begin(), [servo_name](const char* axis_name)

            {

                return CORBA::string_dup((servo_name + "_" + axis_name).c_str());

            });



            size_t names_index = axes_names->length();

            size_t units_index = axes_units->length();

            axes_names->length(names_index + servo_axes_names->length());
@@ -1323,13 +1328,6 @@ void SRTMinorServoBossCore::stopThread(T*& thread) 
    if(thread != nullptr && thread->isAlive())

    {

        thread->stop();

        // We might not need this block, but if the previous call is blocking we won't get here anyway, better keep it

        while(thread->isAlive())

        {

            // TODO: remove this if found unnecessary

            std::cout << "waiting thread" << std::endl;

            std::this_thread::sleep_for(std::chrono::milliseconds(5));

        }

    }

}

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossImpl.cpp

+12 −2
Original line number Diff line number Diff line
@@ -33,11 +33,15 @@ SRTMinorServoBossImpl::SRTMinorServoBossImpl(const ACE_CString& component_name, 
    m_last_executed_command_ptr(this)

{

    AUTO_TRACE("SRTMinorServoBossImpl::SRTMinorServoBossImpl()");



    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::SRTMinorServoBossImpl()", (LM_NOTICE, "COMPONENT CREATED"));

}



SRTMinorServoBossImpl::~SRTMinorServoBossImpl()

{

    AUTO_TRACE("SRTMinorServoBossImpl::~SRTMinorServoBossImpl()");



    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::SRTMinorServoBossImpl()", (LM_NOTICE, "COMPONENT DESTROYED"));

}



void SRTMinorServoBossImpl::initialize()
@@ -95,7 +99,7 @@ void SRTMinorServoBossImpl::initialize() 
        throw ex.getComponentErrorsEx();

    }



    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::SRTMinorServoBossImpl()", (LM_NOTICE, "PROPERTIES INITIALIZED"));

    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::initialize()", (LM_NOTICE, "PROPERTIES INITIALIZED"));



    m_parser.add("servoSetup", new SP::function1<SRTMinorServoBossImpl, SP::non_constant, SP::void_type, SP::I<SP::string_type>>(this, &SRTMinorServoBossImpl::setup), 1);

    m_parser.add("servoPark", new SP::function0<SRTMinorServoBossImpl, SP::non_constant, SP::void_type>(this, &SRTMinorServoBossImpl::park), 0);
@@ -105,17 +109,22 @@ void SRTMinorServoBossImpl::initialize() 
    m_parser.add("clearServoOffsets", new SP::function0<SRTMinorServoBossImpl, SP::non_constant, SP::void_type>(this, &SRTMinorServoBossImpl::clearOffsets), 0);

    //m_parser.add("setGregorianCoverPosition", new SP::function1<SRTMinorServoBossImpl, SP::non_constant, SP::void_type, SP::I<SP::string_type>>(this, &SRTMinorServoBossImpl::setGregorianCoverPosition), 1);



    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::SRTMinorServoBossImpl()", (LM_NOTICE, "PARSER INITIALIZED"));

    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::initialize()", (LM_NOTICE, "PARSER INITIALIZED"));



    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::initialize()", (LM_NOTICE, "COMPONENT INITIALIZED"));

}



void SRTMinorServoBossImpl::execute()

{

    AUTO_TRACE("SRTMinorServoBossImpl::execute()");



    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::execute()", (LM_NOTICE, "STARTING TO ACCEPT FUNCTIONAL CALLS"));

}



void SRTMinorServoBossImpl::cleanUp()

{

    AUTO_TRACE("SRTMinorServoBossImpl::cleanUp()");

    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::cleanUp()", (LM_NOTICE, "CLEANING UP RESOURCES"));

    stopPropertiesMonitoring();

    _IRA_LOGFILTER_FLUSH;

    _IRA_LOGFILTER_DESTROY;
@@ -125,6 +134,7 @@ void SRTMinorServoBossImpl::cleanUp() 
void SRTMinorServoBossImpl::aboutToAbort()

{

    AUTO_TRACE("SRTMinorServoBossImpl::aboutToAbort()");

    ACS_LOG(LM_FULL_INFO, "SRTMinorServoBossImpl::aboutToAbort()", (LM_NOTICE, "ATTEMPTING TO CLEAN UP RESOURCES"));

    stopPropertiesMonitoring();

    _IRA_LOGFILTER_FLUSH;

    _IRA_LOGFILTER_DESTROY;