better management of communication errors with med minor servo (41070bd1) · Commits · INAF / DISCOS

Medicina/Servers/MedicinaMinorServo/include/MinorServoBossImpl.h

+1 −2

Original line number	Diff line number	Diff line
		@@ -99,8 +99,7 @@ public:
		* @throw ComponentErrors::CouldntGetComponentExImpl, ManagementErrors::ConfigurationErrorEx
		*/
		virtual void initialize() throw (
		ComponentErrors::CouldntGetComponentExImpl,
		MinorServoErrors::SetupErrorExImpl
		ComponentErrors::CouldntGetComponentExImpl
		);

		virtual void execute() throw (ComponentErrors::MemoryAllocationExImpl);

Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp

+1 −1

Original line number	Diff line number	Diff line
		@@ -60,7 +60,7 @@ void MSBossTracker::runLoop()
		{
		try {
		m_antennaBoss->getRawCoordinates(IRA::CIRATools::getACSTime(), azimuth, elevation);
		}catch(...){
		}catch(...){ //CORBA::SystemException
		CUSTOM_LOG(LM_FULL_INFO, "MinorServo::MSBossTracker::runLoop",
		(LM_WARNING, "Cannot get antenna coordinates"));
		m_antennaBoss.setError();

Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp

+53 −18

Original line number	Diff line number	Diff line
		@@ -50,8 +50,7 @@ MinorServoBossImpl::~MinorServoBossImpl() {


		void MinorServoBossImpl::initialize() throw (
		ComponentErrors::CouldntGetComponentExImpl,
		MinorServoErrors::SetupErrorExImpl)
		ComponentErrors::CouldntGetComponentExImpl)
		{
		AUTO_TRACE("MinorServoBossImpl::initialize()");

		@@ -64,7 +63,9 @@ void MinorServoBossImpl::initialize() throw (
		(LM_DEBUG, "Initialized NC supplier"));
		}
		catch (...) {
		_THROW_EXCPT(ComponentErrors::UnexpectedExImpl,"MinorServoBoss::initialize()");
		THROW_EX(ComponentErrors, CouldntGetComponentEx,
		"cannot initialize simple supplier",
		false);
		}

		/**
		@@ -77,13 +78,14 @@ void MinorServoBossImpl::initialize() throw (
		* READ ATTRIBUTES FROM CDB
		*/
		if(!IRA::CIRATools::getDBValue(m_services, "server_ip", m_server_ip))
		THROW_EX(ComponentErrors,CDBAccessEx,
		//THROW_EX(ComponentErrors,CDBAccessEx,
		THROW_EX(ComponentErrors, CouldntGetComponentEx,
		"cannot read server_ip from CDB",
		false);
		CUSTOM_LOG(LM_FULL_INFO, "MinorServo::MinorServoBossImpl::initialize",
		(LM_DEBUG, "server ip: %s", (const char*)m_server_ip));
		if(!IRA::CIRATools::getDBValue(m_services, "AntennaBossInterface", m_antennaBossInterface))
		THROW_EX(ComponentErrors,CDBAccessEx,
		THROW_EX(ComponentErrors, CouldntGetComponentEx,
		"cannot read AntennaBossInterface from CDB",
		false);
		CUSTOM_LOG(LM_FULL_INFO, "MinorServo::MinorServoBossImpl::initialize",
		@@ -102,10 +104,15 @@ void MinorServoBossImpl::initialize() throw (
		/**
		* INITIALIZE SERVO CONTROL
		*/
		//TODO: add exception management here
		try{
		m_control = get_servo_control(m_server_ip);
		CUSTOM_LOG(LM_FULL_INFO, "MinorServo::MinorServoBossImpl::initialize",
		(LM_DEBUG, "Instantiated new minor servo control"));
		}catch(ServoConnectionError& sce){
		THROW_EX(ComponentErrors, CouldntGetComponentEx,
		sce.what(),
		false);
		}

		/**
		* INITIALIZE PARSER WITH COMMANDS
		@@ -322,13 +329,25 @@ throw (MinorServoErrors::SetupErrorEx)
		}catch(...) {
		THROW_EX(MinorServoErrors, SetupErrorEx, "invalid configuration", false);
		}
		try{
		m_servo_status.reset();
		m_servo_status.starting = true;
		}catch(const ServoTimeoutError& ste){
		THROW_EX(MinorServoErrors, SetupErrorEx, ste.what(), false);
		}catch(const ServoConnectionError& sce){
		THROW_EX(MinorServoErrors, SetupErrorEx, sce.what(), false);
		}catch(...){
		THROW_EX(MinorServoErrors, SetupErrorEx, "Cannot conclude setup", false);
		}
		/**
		* Get the setup position at 45 deg
		*/
		MedMinorServoPosition setup_position = m_actual_config->get_position();
		try{
		m_offset.initialize(m_actual_config->is_primary_focus());
		}catch(MinorServoOffsetError& msoe){
		THROW_EX(MinorServoErrors, SetupErrorEx, msoe.what(), false);
		}
		try{
		m_actual_conf = string(config);
		m_control->set_position(setup_position);
		@@ -348,6 +367,8 @@ throw (MinorServoErrors::SetupErrorEx)
		(LM_DEBUG, "Started setup positioning thread"));
		}catch(const ServoTimeoutError& ste){
		THROW_EX(MinorServoErrors, SetupErrorEx, ste.what(), false);
		}catch(const ServoConnectionError& sce){
		THROW_EX(MinorServoErrors, SetupErrorEx, sce.what(), false);
		}catch(...){
		THROW_EX(MinorServoErrors, SetupErrorEx, "Cannot conclude setup", false);
		}
		@@ -436,11 +457,19 @@ MinorServoBossImpl::getAxesPosition(ACS::Time time)
		ACS::doubleSeq_var positions_res = new ACS::doubleSeq;
		vector<double> vpositions;
		MedMinorServoPosition position;
		try{
		if(time == 0)
		position = m_control->get_position();
		else
		position = m_control->get_position_at(time);
		//We hide the system offsets from the user view
		}catch(const ServoTimeoutError& ste){
		THROW_EX(MinorServoErrors, CommunicationErrorEx, ste.what(), false);
		}catch(const ServoConnectionError& sce){
		THROW_EX(MinorServoErrors, CommunicationErrorEx, sce.what(), false);
		}catch(...){
		THROW_EX(MinorServoErrors, CommunicationErrorEx, "Cannot get position", false);
		}
		position -= m_offset.getSystemOffsetPosition();
		vpositions = position.get_axes_positions();
		positions_res->length(vpositions.size());
		@@ -886,9 +915,15 @@ MinorServoBossImpl::setCorrectPosition()
		}
		MedMinorServoPosition offset_position = m_offset.getOffsetPosition();
		MedMinorServoPosition correct_position = m_actual_config->get_position();
		try{
		m_control->set_position(correct_position + offset_position);
		CUSTOM_LOG(LM_FULL_INFO, "MinorServo::MinorServoBoss::setCorrectPosition",
		(LM_DEBUG, "Correcting position"));
		}catch(const ServoTimeoutError& ste){
		THROW_EX(MinorServoErrors, CommunicationErrorEx, ste.what(), false);
		}catch(const ServoConnectionError& sce){
		THROW_EX(MinorServoErrors, CommunicationErrorEx, sce.what(), false);
		}
		}

		void