Unverified Commit 2a63fcff authored by Andrea Orlati's avatar Andrea Orlati Committed by GitHub
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fix issue #605: I'm adding a couple of tricks in order to work around… (#747) 

* fix issue #605: I'm adding a couple of tricks in order to wark arounf the problem. First a 2 seconds delay has been added befre clearing the trigger after the detection. Secondly a mode reconfiguration has been forced after the event is cleared.
thepower failure event detection and the

* fix issue #605: fixed and issue showed by reviewer, the power fail detection should be reset after a recover procedure is done.
parent 8881899d

Medicina/Servers/MedicinaMount/include/MedicinaMountSocket.h

+2 −0
Original line number Diff line number Diff line
@@ -640,6 +640,8 @@ private: 
	 */		

	bool m_powerFailDetected;

	

	ACS::Time m_powerFailTime;

	

	/**

	 * Stores the epoch of the last scan. Used in oscillation prevention

	 */

Medicina/Servers/MedicinaMount/src/MedicinaMountSocket.cpp

+22 −9
Original line number Diff line number Diff line
@@ -132,6 +132,7 @@ void CMedicinaMountSocket::Init(CConfiguration *config,maci::ContainerServices * 
	m_lastScanEpoch=0;

	m_modeCheckRecover=false;

	m_powerFailDetected=false;

	m_powerFailTime=0;

}



CACUInterface::TAxeModes CMedicinaMountSocket::getAzimuthMode() throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl)
@@ -854,21 +855,26 @@ void CMedicinaMountSocket::checkPowerFailure() throw (ComponentErrors::TimeoutEx 
{

	//_IRA_LOGDIKE_COMPLETION(m_logDike,__dummy,LM_DEBUG);

	if (!m_configuration->checkForMode()) return;

	TIMEVALUE now;

	IRA::CIRATools::getTime(now);

	if (m_Data.getDrivePower()) {  //in case of a power outage of failure.....

		if (!m_powerFailDetected) { //first detection

			CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",(LM_CRITICAL,

			  "Servo system power failure detected"));

		}

		m_powerFailDetected=true;	

		m_powerFailTime=now.value().value;

	}

	else {  // no power error

		if (m_powerFailDetected) { //first detection

		   CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",(LM_NOTICE,

			  "Trying a servo system reset"));

		if (m_powerFailTime!=0) {

			if (now.value().value-m_powerFailTime>20000000) {

		   	CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",

		        (LM_NOTICE,"Trying a servo system reset"));

 				failureReset();// throw (TimeoutExImpl,AntennaErrors::NakExImpl,ConnectionExImpl,SocketErrorExImpl)  

			m_powerFailDetected=false;	

			CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",(LM_CRITICAL,

			  "Servo system power failure cleared"));				

				m_powerFailDetected=true; // signal a power fail has been detected and fixed..need to recover from error	

				m_powerFailTime=0;

				CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",

			     (LM_NOTICE,"Servo system power failure cleared"));

			}				

		}	

	}

}
@@ -877,7 +883,7 @@ void CMedicinaMountSocket::checkCommandedMode() throw (ConnectionExImpl,SocketEr 
{

	CACUInterface::TAxeModes commandedMode, mode;

	if (!m_configuration->checkForMode()) return;

	if (m_powerFailDetected) return; // no need to try to recover from mode discrepancy if the cause is a power failure

	if (m_powerFailTime!=0) return; // no need to try to recover from mode discrepancy if the cause is a power failure

	commandedMode=m_Data.getLastCommandedMode();

	if ((commandedMode!=CACUInterface::STANDBY)  && (commandedMode!=CACUInterface::UNSTOW) &&

	  (commandedMode!=CACUInterface::STOW) && (commandedMode!=CACUInterface::STOP)) {
@@ -889,6 +895,13 @@ void CMedicinaMountSocket::checkCommandedMode() throw (ConnectionExImpl,SocketEr 
	  			m_modeCheckRecover=true;

	  			Mode(commandedMode,commandedMode);

	  		}

	  		else if (m_powerFailDetected) {

	  			CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkCommandedMode()",

	  			  (LM_NOTICE,"Trying to activate drive power after a power failure....."));

	  			m_modeCheckRecover=true;

	  			m_powerFailDetected=false;

	  			Mode(commandedMode,commandedMode);

	  		}

	  	}

	}

}