#588 (3da2d13b) · Commits · INAF / DISCOS

Medicina/Configuration/CDB/alma/MANAGEMENT/CalibrationTool/CalibrationTool.xml

+1 −1

Original line number	Diff line number	Diff line
		@@ -15,7 +15,7 @@
		RepetitionExpireTime="10000000"
		TrackingFlagDutyCycle="100000"
		AntennaBossInterface="IDL:alma/Antenna/AntennaBoss:1.0"
		MinorServoBossInterface=""
		MinorServoBossInterface="IDL:alma/MinorServo/MinorServoBoss:1.0"
		SchedulerInterface="IDL:alma/Management/Scheduler:1.0"
		ObservatoryInterface="IDL:alma/Antenna/Observatory:1.0"
		GenerateFile="1"

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoScan.hpp

+1 −0

Original line number	Diff line number	Diff line
		@@ -46,6 +46,7 @@ class MedMinorServoScan
		private:
		MedMinorServoPosition m_central_position, m_start_position, m_stop_position;
		ACS::Time m_starting_time, m_total_time;
		ACS::TimeInterval m_interval_to_start_pos;
		double m_range, m_min_time, m_max_time, m_min_start_time;
		string m_axis_code;
		bool m_initialized, m_was_tracking, m_asap;

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoGeometry.cpp

+6 −0

Original line number	Diff line number	Diff line
		@@ -348,12 +348,18 @@ MedMinorServoGeometry::positionToAxes(const MedMinorServoPosition& position)
		command.pos_y_zp = _get_inverse_zp(position);
		break;
		case(MED_MINOR_SERVO_SECONDARY):
		cout << position.x << " " << position.z << " " << position.y << " " << position.theta_x << " " << position.theta_y << endl;
		command.mode = 1;
		command.pos_x_yp = _get_inverse_x(position);
		cout << command.pos_x_yp << endl;
		command.pos_y_zp = _get_inverse_y(position);
		cout << command.pos_y_zp << endl;
		command.pos_z1 = _get_inverse_z1(position);
		cout << command.pos_z1 << endl;
		command.pos_z2 = _get_inverse_z2(position);
		cout << command.pos_z2 << endl;
		command.pos_z3 = _get_inverse_z3(position);
		cout << command.pos_z3 << endl;
		break;
		default:
		throw MinorServoGeometryError("Invalid mode converting position to command");

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoScan.cpp

+45 −29

Original line number	Diff line number	Diff line
		@@ -34,15 +34,7 @@ MedMinorServoScan::init(const MedMinorServoPosition central_position,
		m_start_position = central_position;
		m_stop_position = central_position;
		m_was_tracking = was_tracking;
		if(starting_time == 0){
		TIMEVALUE now;
		IRA::CIRATools::getTime(now);
		m_starting_time = now.value().value + START_SCAN_TOLERANCE;
		m_asap = true;
		}else{
		m_starting_time = starting_time;
		m_asap = false;
		}

		m_range = range;
		m_total_time = total_time;
		m_axis_code = axis_code;
		@@ -82,6 +74,36 @@ MedMinorServoScan::init(const MedMinorServoPosition central_position,
		m_stop_position.theta_y += range/2;
		}
		}
		/**
		* Try to compute min and max times for the scan, errors if positions are
		* not valid or not within permissible ranges but we just checked for this
		*/
		m_min_time = MedMinorServoGeometry::min_time(m_start_position,
		m_stop_position);
		m_max_time = MedMinorServoGeometry::max_time(m_start_position,
		m_stop_position);
		/**
		* check that we can reach start position in time
		*/
		m_min_start_time = MedMinorServoGeometry::min_time(m_central_position,
		m_start_position);
		CUSTOM_LOG(LM_FULL_INFO, "MedMinorServoControl::MedMinorServoScan::check()",(LM_DEBUG, "min start time: %f", m_min_start_time));
		IRA::CString out;
		m_interval_to_start_pos = MedMinorServoTime::deltaToACSTimeInterval(m_min_start_time);
		IRA::CIRATools::intervalToStr( m_interval_to_start_pos,out);
		cout << "interval : " << (const char *) out << endl;
		if(starting_time == 0){
		TIMEVALUE now;
		IRA::CIRATools::getTime(now);
		m_starting_time = now.value().value + START_SCAN_TOLERANCE + m_interval_to_start_pos;
		IRA::CString out;
		IRA::CIRATools::timeToStr(m_starting_time,out);
		cout << "start time :" << (const char *)out << endl;
		m_asap = true;
		}else{
		m_starting_time = starting_time;
		m_asap = false;
		}
		m_initialized = true;
		}

		@@ -114,29 +136,23 @@ throw (MinorServoErrors::ScanErrorEx)
		(LM_NOTICE, "Central position out of limits"));
		return false;
		}
		/**
		* Try to compute min and max times for the scan, errors if positions are
		* not valid or not within permissible ranges but we just checked for this
		*/
		m_min_time = MedMinorServoGeometry::min_time(m_start_position,
		m_stop_position);
		m_max_time = MedMinorServoGeometry::max_time(m_start_position,
		m_stop_position);
		/**
		* check that we can reach start position in time
		*/
		m_min_start_time = MedMinorServoGeometry::min_time(m_central_position,
		m_start_position);
		CUSTOM_LOG(LM_FULL_INFO, "MedMinorServoControl::MedMinorServoScan::check()",
		(LM_DEBUG, "min start time: %f", m_min_start_time));
		///////

		IRA::CString out;
		IRA::CIRATools::timeToStr(m_starting_time,out);
		cout << "time :" << (const char *)out << endl;

		if(!m_asap)
		{
		TIMEVALUE now;
		IRA::CIRATools::getTime(now);
		ACS::TimeInterval interval =
		MedMinorServoTime::deltaToACSTimeInterval(m_min_start_time);
		if(m_starting_time <= (now.value().value + interval +
		START_SCAN_TOLERANCE))
		// ACS::TimeInterval interval =
		// MedMinorServoTime::deltaToACSTimeInterval(m_min_start_time);

		IRA::CIRATools::timeToStr(now.value().value + m_interval_to_start_pos,out);
		cout << "soglia :" << (const char *)out << endl;

		if(m_starting_time <= (now.value().value + m_interval_to_start_pos ))
		//if(m_starting_time <= (now.value().value + m_min_start_time * 10000000))
		{
		CUSTOM_LOG(LM_FULL_INFO, "MedMinorServoControl::MedMinorServoScan::check()",
		@@ -144,7 +160,7 @@ throw (MinorServoErrors::ScanErrorEx)
		return false;
		}else{
		CUSTOM_LOG(LM_FULL_INFO, "MedMinorServoControl::MedMinorServoScan::check()",
		(LM_DEBUG, "Can reach start position in time: %llu", interval));
		(LM_DEBUG, "Can reach start position in time: %llu", m_interval_to_start_pos));
		}
		}
		/**

Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp

+5 −2

Original line number	Diff line number	Diff line
		@@ -625,10 +625,11 @@ MinorServoBossImpl::checkScanImpl(
		) throw (MinorServoErrors::MinorServoErrorsEx,
		ComponentErrors::ComponentErrorsEx)
		{
		cout << "checkScanImpl" << endl;
		minor_servo_parameters = new TRunTimeParameters;
		double center = 0;
		MedMinorServoPosition central_position =
		m_actual_config->get_position(antenna_parameters.elevation);
		m_actual_config->get_position(antenna_parameters.elevation,&m_offset);

		MedMinorServoScan scan(central_position,
		starting_time,
		@@ -638,6 +639,7 @@ MinorServoBossImpl::checkScanImpl(
		isElevationTracking());
		minor_servo_parameters->startEpoch = scan.getStartingTime();
		try{
		cout << "axis code: " << string(scan_parameters.axis_code) << endl;
		center = central_position.get_axis_position(
		scan_parameters.axis_code);
		}catch(const MinorServoAxisNameError& msane){
		@@ -710,6 +712,7 @@ MinorServoBossImpl::startScanImpl(
		const Antenna::TRunTimeParameters& antenna_parameters
		) throw (MinorServoErrors::MinorServoErrorsEx)
		{
		cout << "startScanImpl" << endl;
		if(!(m_control))
		THROW_MINORSERVO_EX(CommunicationErrorEx,
		"Minor Servo Server is not connected", false);
		@@ -721,7 +724,7 @@ MinorServoBossImpl::startScanImpl(
		bool was_elevation_tracking = isElevationTracking();
		turnTrackingOff();
		MedMinorServoPosition central_position =
		m_actual_config->get_position(antenna_parameters.elevation);
		m_actual_config->get_position(antenna_parameters.elevation,&m_offset);
		MedMinorServoScan scan(central_position,
		starting_time,
		scan_parameters.range,