Commit 4a40809c authored by Noto Operator's avatar Noto Operator
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Noto/Configuration/CDB/alma/DataBlock/Mount/Mount.xml

+2 −2
Original line number Diff line number Diff line
@@ -9,8 +9,8 @@ 
	xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"

	xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"

	xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

	maxAzimuth="439.3"

	minAzimuth="-97.7"

	maxAzimuth="457.7"

	minAzimuth="-70.7"

	maxElevation="90.0"

	minElevation="5.0"

	diameter="32.0"

Noto/Configuration/CDB/alma/DataBlock/PointingModel/PointingModel.xml

+8 −8
Original line number Diff line number Diff line
@@ -10,15 +10,15 @@ 
<Receiver>

	<receiverCode>SEC</receiverCode>

        <phi>90.0</phi>

        <coefficientNum00> 1 </coefficientNum00> <coefficientVal00> 0.0049250331 </coefficientVal00>

        <coefficientNum00> 1 </coefficientNum00> <coefficientVal00> 0.0219204295 </coefficientVal00>

        <coefficientNum01> 0 </coefficientNum01> <coefficientVal01> 0 </coefficientVal01>

        <coefficientNum02> 1 </coefficientNum02> <coefficientVal02> -0.0139756389 </coefficientVal02>

        <coefficientNum03> 1 </coefficientNum03> <coefficientVal03> 0.0083448673 </coefficientVal03>

        <coefficientNum04> 1 </coefficientNum04> <coefficientVal04> -0.0047017052 </coefficientVal04>

        <coefficientNum05> 1 </coefficientNum05> <coefficientVal05> 0.0030396502 </coefficientVal05>

        <coefficientNum06> 1 </coefficientNum06> <coefficientVal06> -0.0707245991 </coefficientVal06>

        <coefficientNum07> 1 </coefficientNum07> <coefficientVal07> 0.0138153592 </coefficientVal07>

        <coefficientNum08> 0 </coefficientNum08> <coefficientVal08> 0 </coefficientVal08>

        <coefficientNum02> 1 </coefficientNum02> <coefficientVal02> -0.0001390366 </coefficientVal02>

        <coefficientNum03> 1 </coefficientNum03> <coefficientVal03> 0.0267782640 </coefficientVal03>

        <coefficientNum04> 1 </coefficientNum04> <coefficientVal04> -0.0027674760 </coefficientVal04>

        <coefficientNum05> 1 </coefficientNum05> <coefficientVal05> 0.0045442590 </coefficientVal05>

        <coefficientNum06> 1 </coefficientNum06> <coefficientVal06> -0.1957215369 </coefficientVal06>

        <coefficientNum07> 1 </coefficientNum07> <coefficientVal07> 0.1461050361 </coefficientVal07>

        <coefficientNum08> 1 </coefficientNum08> <coefficientVal08> 0.0735574737 </coefficientVal08>

        <coefficientNum09> 0 </coefficientNum09> <coefficientVal09> 0 </coefficientVal09>

        <coefficientNum10> 0 </coefficientNum10> <coefficientVal10> 0 </coefficientVal10>

        <coefficientNum11> 0 </coefficientNum11> <coefficientVal11> 0 </coefficientVal11>

Noto/Misc/NotoScripts/src/subr.py

+6 −6
Original line number Diff line number Diff line
@@ -123,27 +123,27 @@ def main(): 
		maxX=85

		minX=-85



		polY[0]=8.3689e-4

		polY[1]=0.152495

		polY[2]=-11.7

		polY[0]=0.0069654

		polY[1]=-0.3007735

		polY[2]=-10.6464206

		maxY=85

		minY=-85



		polZ1[0]=0.00168640  

		polZ1[1]=-0.271430

		polZ1[2]=17.3

		polZ1[2]=7.3

		maxZ1=85

		minZ1=-85



		polZ2[0]=0.00168640

		polZ2[1]=-0.271430

		polZ2[2]=9.8

		polZ2[2]=-0.2

		maxZ2=85

		minZ2=-85



		polZ3[0]=0.00168640

		polZ3[1]=-0.271430

		polZ3[2]=12.6

		polZ3[2]=2.6

		maxZ3=85

		minZ3=-85

Noto/Servers/NotoPyMinorServo/src/NotoMinorServoBoss/MinorServoImpl.py

+113 −58
Original line number Diff line number Diff line
@@ -32,36 +32,15 @@ __copyright__ = "Andrea Orlati <a.orlati@ira.inaf.it>" 




class MinorServoImpl(POA, charcomponent, services, lcycle):

	"""



	commands = {

   	# command_name: (method_name, (type_of_arg1, ..., type_of_argN))

        'derotatorSetup': ('setup', (str,)), 

        'derotatorGetActualSetup': ('getActualSetup', ()),

        'derotatorIsReady': ('isReady', ()), 

        'derotatorSetConfiguration': ('setConfiguration', (str,)),

        'derotatorGetConfiguration': ('getConfiguration', ()), 

        'derotatorPark': ('park', ()),

        'derotatorSetOffset': ('setOffset', (float,)),

        'derotatorGetOffset': ('getOffset', ()),

        'derotatorClearOffset': ('clearOffset', ()),

        'derotatorSetRewindingMode': ('setRewindingMode', (str,)),

        'derotatorGetRewindingMode': ('getRewindingMode', ()),

        'derotatorSetAutoRewindingSteps': ('setAutoRewindingSteps', (int,)),

        'derotatorGetAutoRewindingSteps': ('getAutoRewindingSteps', ()),

        'derotatorClearAutoRewindingSteps': ('clearAutoRewindingSteps', ()),

        'derotatorIsUpdating': ('isUpdating', ()),

        'derotatorIsRewinding': ('isRewinding', ()), 

        'derotatorIsRewindingRequired': ('isRewindingRequired', ()), 

        'derotatorRewind': ('rewind', (int,)),

        'derotatorSetPosition': ('_setPositionCmd', (str,)),

        'derotatorGetPosition': ('_getPositionCmd', ()), 

        'derotatorGetCmdPosition': ('_getCmdPositionCmd', ()), 

        'derotatorGetRewindingStep': ('_getRewindingStepCmd', ()),

        'derotatorGetScanInfo': ('_getScanInfoCmd', ()),

        'derotatorGetMaxLimit': ('_getMaxLimitCmd', ()),

        'derotatorGetMinLimit': ('_getMinLimitCmd', ()),

    }

	"""

        'servoSetup': ('setup', (str,)),  

        'setServoElevationTracking': ('setElevationTracking', (str,)),

	'setServoASConfiguration': ('setASConfiguration', (str,)),

        'servoPark': ('park', ()),

        'setServoOffset': ('setUserOffset', (str,float,)),

        'clearServoOffsets': ('clearUserOffset', (str,)),}



	def __init__(self):

		charcomponent.__init__(self)
@@ -132,9 +111,9 @@ class MinorServoImpl(POA, charcomponent, services, lcycle): 
	def setElevationTracking(self,value):

		cmd=value.upper()

		if cmd=="ON":

			pass

			self.minorServo.trackingEnabled=True

		elif cmd=="OFF":

			pass

			self.minorServo.trackingEnabled=False

		else:

			exc=MinorServoErrors.ConfigurationError()

			raise exc.getMinorServoErrorsEx()
@@ -145,20 +124,19 @@ class MinorServoImpl(POA, charcomponent, services, lcycle): 
	def setASConfiguration(self,value):

		pass





	"""

	Should the minor servo position change with the antenna elevation?

	:return true if the elevation tracking is enabled

	"""

	def isElevationTrackingEn(self):

		pass

		return self.trackingEnabled

	

	"""

	Is the minor servo position following the antenna elevation?

	:return true if the minor servo position is following the antenna elevation

	"""

	def isElevationTracking():

		pass

		return self.minorServo.trackingEnabled

	

	"""

	Is the system on focus?
@@ -249,8 +227,9 @@ class MinorServoImpl(POA, charcomponent, services, lcycle): 
	:raises (MinorServoErrors::MinorServoErrorsEx,ComponentErrors::ComponentErrorsEx);

 	"""

	def startScan(self,starting_time,scan,antennaInfo):

		#TO be implemented

		pass

		#nothing to do here, scans are not supported....

		if not starting_time==0:

			starting_time=getTimeStamp().value



	"""

	Closes the current scan and force the minor servo system to its normal behaviour
@@ -258,8 +237,8 @@ class MinorServoImpl(POA, charcomponent, services, lcycle): 
	:raises (ComponentErrors::ComponentErrorsEx, ReceiversErrors::ReceiversErrorsEx)

	"""

	def closeScan(timeToStop):

		#To be implemented

		pass

		#nothing to do here, scans are not supported....

		timeToStop=0



	"""

	Check if it is possible to execute a scan along a given axis
@@ -270,8 +249,11 @@ class MinorServoImpl(POA, charcomponent, services, lcycle): 
	:raises ((MinorServoErrors::MinorServoErrorsEx,ComponentErrors::ComponentErrorsEx)

	"""

	def checkScan(self,starting_time,scan,antennaInfo,runtime):

		#to be implemented

		return False

		#scan not supported, we just fill in some salinet parameters required by the scheduler

		runtime.startEpoch=0

		runtime.onTheFly=False

		runtime.scanAxis=""

		return True



	"""

	Clear the user offset of a servo (or all servos)
@@ -347,8 +329,8 @@ class MinorServoImpl(POA, charcomponent, services, lcycle): 
	Return the code of the axis involved in the scan (string)

	"""

	def getScanAxis(self):

		#to be implemented

		pass

		#scan not supported yet so return empty string

		return ""

 

	"""

	Return the positions of the active axes (ACS::doubleSeq)
@@ -1002,6 +984,79 @@ class MinorServoImpl(POA, charcomponent, services, lcycle): 
        logger.logInfo('command %s executed' %cmd)

        return (success, answer)

"""



	"""

        This method returns a tuple (success, answer), where success is a boolean

        that indicates the command is executed correctly (success = True) or not

        (success = False). The argument answer is a string that represents the

        error message in case of error, the value returned from the method in

        case it returns a non Null object, an empty string in case it returns None.

	"""

	def command(self, cmd):

        

	        try:

			command, args_str = cmd.split('=') if '=' in cmd else (cmd, '')

            		command = command.strip()

            		args = [item.strip() for item in args_str.split(',')]

        	except ValueError:

            		success = False 

            		answer = 'Error - invalid command: maybe there are too many symbols of ='

	        except Exception, ex:

            		success = False 

            		answer = ex.message

        	else:

            		success = True



        	if not success:

			logger.logError(answer)

			return (success, answer)

		if command not in MinorServoImpl.commands:

			success = False

            		answer = 'Error - command %s does not exist' %command

            		ger.logError(answer)

            		return (success, answer)

        	else:

            		method_name, types = MinorServoImpl.commands[command]

            		# If we expect some arguments but there is not

            		if types and not any(args):

                		success = False

                		answer = 'Error - missing arguments, type help(%s) for details' %command

                		logger.logError(answer)

                		return (success, answer)



            		try:

               			method = getattr(self, method_name)

			except AttributeError, ex:

				success = False

				answer = "Error - %s has no attribute %s" %(self, method_name)

				logger.logError(answer)

				return (success, answer)

			try:

				result = method(*[type_(arg) for (arg, type_) in zip(args, types)])

				answer = '' if result is None else str(result)

				success = True

			except (ValueError, TypeError), ex:

				success = False

				answer = 'Error - wrong parameter usage.\nType help(%s) for details' %command

				logger.logError('%s\n%s' %(ex.message, answer))

				return (success, answer)

			except ComponentErrors.ComponentErrorsEx, ex:

				success = False

				data_list = ex.errorTrace.data # A list

				reason = data_list[0].value if data_list else 'component error'

				answer = 'Error - %s' %reason

				logger.logError(answer)

				return (success, answer)

			except Exception, ex:

				success = False

				msg = ex.message if ex.message else 'unexpected exception'

				answer = 'Error - %s' %(ex.getReason() if hasattr(ex, 'getReason') else msg)

				logger.logError(answer)

                		return (success, answer)



		logger.logInfo('command %s executed' %cmd)

	        return (success, answer)



	@staticmethod

	def worker(servo, control, sleep_time=1):

		while True:

Noto/Servers/NotoPyMinorServo/src/NotoMinorServoBoss/servo.py

+4 −1
Original line number Diff line number Diff line
@@ -14,6 +14,7 @@ import ACSLog 
from Acspy.Servants import ContainerServices

from Acspy.Common.TimeHelper import getTimeStamp

from IRAPy import logger

from maciErrType import CannotGetComponentEx

from math import *
@@ -50,6 +51,7 @@ class Servo(object): 
		""" Bussiness logic parameters """

		self.configured=False

		self.connected=False;

		self.trackingEnabled=False



	def __del__(self):

		self.disconnect()
@@ -91,7 +93,7 @@ class Servo(object): 
		

	def updatePosition(self):

		print "Updating position......."

		if (self.configured) and (self.currentConf!="") and (self.antennaBoss!=None):

		if (self.configured) and (self.currentConf!="") and (self.antennaBoss!=None) and (self.trackingEnabled):

			ctime=getTimeStamp().value

			try:

				az,el=self.antennaBoss.getRawCoordinates(ctime)
@@ -183,6 +185,7 @@ class Servo(object): 
			it should be set when the migration /primary/secondary is completed

			"""

			self.configured=True

			self.trackingEnabled=True

		finally:

			Servo.classLock.release()