Commit 37bcad5e authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Updated SRTMinorServo setup and park procedures

parent d51e7785

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp

+30 −19
Original line number Diff line number Diff line
@@ -242,22 +242,22 @@ void SRTMinorServoBossCore::setup(std::string commanded_setup) 
    m_tracking.store(Management::MNG_FALSE);

    m_motion_status.store(MOTION_STATUS_STARTING);



    try

    {

    // Send the STOP command to each servo

    for(const auto& [servo_name, servo] : m_servos)

    {

        try

        {

            servo->stop();

        }

    }

        catch(MinorServoErrors::MinorServoErrorsEx& mse)

        {

            _ADD_BACKTRACE(ManagementErrors::ConfigurationErrorExImpl, ex, mse, "SRTMinorServoBossCore::setup()");

            ex.setSubsystem("MinorServo");

        ex.setReason("Error while sending the STOP command to a minor servo system.");

            ex.setReason(("Error while sending the STOP command to " + servo_name + ".").c_str());

            ex.log(LM_DEBUG);

            throw ex.getConfigurationErrorEx();

        }

    }



    // Start the setup thread

    try
@@ -335,7 +335,7 @@ void SRTMinorServoBossCore::park() 
    try

    {

        // Send the STOW command to close the gregorian cover

        if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", 1)).checkOutput())

        if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", COVER_STATUS_CLOSED)).checkOutput())

        {

            _EXCPT(ManagementErrors::ParkingErrorExImpl, ex, "SRTMinorServoBossCore::park()");

            ex.setSubsystem("MinorServo");
@@ -343,21 +343,32 @@ void SRTMinorServoBossCore::park() 
            ex.log(LM_DEBUG);

            throw ex.getParkingErrorEx();

        }

    }

    catch(MinorServoErrors::MinorServoErrorsEx& mse)

    {

        _ADD_BACKTRACE(ManagementErrors::ParkingErrorExImpl, ex, mse, "SRTMinorServoBossCore::park()");

        ex.setSubsystem("MinorServo");

        ex.setReason("Error while sending the STOW command to the gregorian cover.");

        ex.log(LM_DEBUG);

        throw ex.getParkingErrorEx();

    }



    // Send the STOP command to each servo

    for(const auto& [servo_name, servo] : m_servos)

    {

        try

        {

            servo->stop();

        }

    }

        catch(MinorServoErrors::MinorServoErrorsEx& mse)

        {

            _ADD_BACKTRACE(ManagementErrors::ParkingErrorExImpl, ex, mse, "SRTMinorServoBossCore::park()");

            ex.setSubsystem("MinorServo");

        ex.setReason("Error while sending the STOP command to a minor servo system.");

            ex.setReason(("Error while sending the STOP command to " + servo_name + ".").c_str());

            ex.log(LM_DEBUG);

            throw ex.getParkingErrorEx();

        }

    }



    // Start the park thread

    try