Commit 202f4812 authored by Marco Bartolini's avatar Marco Bartolini
Browse files

minor bugs and improvements in MedicinaMinorServo

parent a1b2b6b9

Medicina/Servers/MedicinaMinorServo/include/MSBossTracker.hpp

+1 −1
Original line number Diff line number Diff line
@@ -20,7 +20,7 @@ 


#include "slamac.h" //for DR2D



#include <AntennaBossProxy.h>

#include <AntennaProxy.h>



#include "MedMinorServoStatus.hpp"

#include "MedMinorServoControl.hpp"

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoOffset.hpp

+2 −0
Original line number Diff line number Diff line
@@ -29,6 +29,8 @@ class MedMinorServoOffset 
        void clearSystemOffset();

        void clearOffset();

        MedMinorServoPosition getOffsetPosition();

        MedMinorServoPosition getSystemOffsetPosition();

        MedMinorServoPosition getUserOffsetPosition();

        void initialize(bool primary_focus);

    private:

        std::vector<double> _user_offset, _system_offset;

Medicina/Servers/MedicinaMinorServo/include/MinorServoBossImpl.h

+5 −4
Original line number Diff line number Diff line
@@ -514,12 +514,13 @@ private: 
	/** This is the pointer to the notification channel */

	nc::SimpleSupplier *m_nchannel;



    //void loadAntennaBoss() throw (ComponentErrors::CouldntGetComponentExImpl);

    //void unloadAntennaBoss();

    bool isParked() throw (MinorServoErrors::ConfigurationErrorEx);

    

    //void clearOffset(const char *servo, string offset_type) throw (MinorServoErrors::OperationNotPermittedEx);



    /**

     * If not tracking elevation, sets the corerct position according to the

     * actual configuration and actual offsets.

     */

    void setCorrectPosition();

   /** 

    * Set the offset (Implementation)

    *

Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp

+2 −1
Original line number Diff line number Diff line
@@ -32,7 +32,8 @@ MSBossTracker::MSBossTracker( 
            m_status(params.m_status), 

            m_control(params.m_control),

            m_parameters(params.m_parameters),

            m_offset(params.m_offset)

            m_offset(params.m_offset),

            m_services(params.m_services)

{

    AUTO_TRACE("MSBossTracker::MSBossTracker()");

    m_antennaBoss.setContainerServices(m_services);

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoOffset.cpp

+42 −0
Original line number Diff line number Diff line
@@ -109,6 +109,48 @@ MedMinorServoOffset::clearOffset() 
    clearSystemOffset();

}



MedMinorServoPosition

MedMinorServoOffset::getSystemOffsetPosition()

{

    MedMinorServoPosition position;

    position.mode = MED_MINOR_SERVO_OFFSET;

    if(!_initialized)

        throw MinorServoOffsetError("Offset has not been initialized");

    boost::recursive_mutex::scoped_lock lock(_offset_guard);

    if(_primary_focus){

        position.y = _system_offset[0];

        position.z = _system_offset[1];

    }else{

        position.x = _system_offset[0];

        position.y = _system_offset[1];

        position.z = _system_offset[2];

        position.theta_x = _system_offset[3];

        position.theta_y = _system_offset[4];

    }

    return position;

}



MedMinorServoPosition

MedMinorServoOffset::getUserOffsetPosition()

{

    MedMinorServoPosition position;

    position.mode = MED_MINOR_SERVO_OFFSET;

    if(!_initialized)

        throw MinorServoOffsetError("Offset has not been initialized");

    boost::recursive_mutex::scoped_lock lock(_offset_guard);

    if(_primary_focus){

        position.y = _user_offset[0];

        position.z = _user_offset[1];

    }else{

        position.x = _user_offset[0];

        position.y = _user_offset[1];

        position.z = _user_offset[2];

        position.theta_x = _user_offset[3];

        position.theta_y = _user_offset[4];

    }

    return position;

}



MedMinorServoPosition

MedMinorServoOffset::getOffsetPosition()

{