Commit 35bc1480 authored by Marco Bartolini's avatar Marco Bartolini
Browse files

MedicinaMinorServo management of connecctions and disconnections

parent e3f4f045

Medicina/Servers/MedicinaMinorServo/config/CDB/schemas/MinorServo.xsd

+3 −1
Original line number Diff line number Diff line
@@ -113,8 +113,10 @@ 
    <xs:complexType name="MinorServoBossType">

        <xs:sequence>

            <xs:element name="status" type="mng:SystemStatusType" />

            <xs:element name="actualSetup" type="baci:ROstring" />

            <xs:element name="ready" type="mng:BooleanType" />

            <xs:element name="actualSetup" type="baci:ROstring" />

            <xs:element name="motionInfo" type="baci:ROstring" />

            <xs:element name="tracking" type="mng:BooleanType" />

            <xs:element name="starting" type="mng:BooleanType" />

            <xs:element name="asConfiguration" type="mng:BooleanType" />

            <xs:element name="elevationTrack" type="mng:BooleanType" />

Medicina/Servers/MedicinaMinorServo/include/DevIOMotionInfo.h

+7 −1
Original line number Diff line number Diff line
@@ -5,6 +5,7 @@ 
#include <IRA>



#include "MedMinorServoParameters.hpp"

#include "MedMinorServoControl.hpp"



using namespace baci;
@@ -17,7 +18,9 @@ class DevIOMotionInfo: public virtual DevIO<ACE_CString> 
{

public:



	DevIOMotionInfo(MedMinorServoStatus *status): m_status(status) {

	DevIOMotionInfo(MedMinorServoStatus *status, 

                    MedMinorServoControl_sp control): m_status(status),

                                                      m_control(control){

		AUTO_TRACE("DevIOMotionInfo::DevIOMotionInfo()");

	}
@@ -32,6 +35,8 @@ public: 
	ACE_CString read(ACS::Time& timestamp) throw (ACSErr::ACSbaseExImpl) {

		AUTO_TRACE("DevIOMotionInfo::read()");

		timestamp=getTimeStamp();

        if((!(m_control)) || (!(m_control->is_connected())))

            return "DISCONNECTED";

        if(m_status){

		    return (m_status->getStatusString()).c_str();

        }else{
@@ -45,6 +50,7 @@ public: 


private:

	MedMinorServoStatus *m_status;

    MedMinorServoControl_sp m_control;

};

Medicina/Servers/MedicinaMinorServo/include/DevIOTracking.h

+9 −6
Original line number Diff line number Diff line
@@ -26,12 +26,15 @@ public: 
	Management::TBoolean read(ACS::Time& timestamp) throw (ACSErr::ACSbaseExImpl) {

		AUTO_TRACE("DevIOTracking::read()");

		timestamp=getTimeStamp();

        if(m_control)

            if (m_control->is_tracking()) {

                m_val=Management::MNG_TRUE;

            }

            else {

                m_val=Management::MNG_FALSE;

            }

        else

            m_val = Management::MNG_FALSE;

		return m_val;

    }

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoControl.hpp

+1 −1
Original line number Diff line number Diff line
@@ -57,7 +57,7 @@ class MedMinorServoControl 
        MedMinorServoControl(const char* server_ip = "192.168.51.30", 

                             const int server_port = MODBUS_TCP_DEFAULT_PORT,

                             double position_buffer_length = 300.0,

                             double position_refresh_time = 0.1,

                             double position_refresh_time = 0.01,

                             double elevation_refresh_time = 0.1); //throw ServoConnectionError, ServoTimeoutError

        virtual ~MedMinorServoControl();

        /**

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoGeometry.hpp

+1 −0
Original line number Diff line number Diff line
@@ -75,6 +75,7 @@ class MedMinorServoPosition 
        bool earlier(const ACS::Time& time) const;

        bool later(const MedMinorServoPosition& position);

        bool later(const ACS::Time& time);

        const char * getStatusString();

        /**

         * check wether the mode is an error code or a success code

         */