Commit 50fa7dda authored by Marco Buttu's avatar Marco Buttu
Browse files

Fixed bug in rewinding

parent ff2cd16e

Common/Servers/DewarPositioner/src/DewarPositioner/positioner.py

+30 −21
Original line number Diff line number Diff line
@@ -124,10 +124,10 @@ class Positioner(object): 




    def _setPosition(self, position):

        target = position + self.control.offset 

        if self.device.getMinLimit() < target < self.device.getMaxLimit():

        self.control.target = position + self.control.offset 

        if self.device.getMinLimit() < self.control.target < self.device.getMaxLimit():

            try:

                self.device.setPosition(target)

                self.device.setPosition(self.control.target)

            except (DerotatorErrors.PositioningErrorEx, DerotatorErrors.CommunicationErrorEx), ex:

                raeson = "cannot set the %s position" %self.device._get_name()

                logger.logError('%s: %s' %(raeson, ex.message))
@@ -138,7 +138,7 @@ class Positioner(object): 
                raise PositionerError(raeson)

        else:

            raise OutOfRangeError("position %.2f out of range {%.2f, %.2f}" 

                    %(target, self.device.getMinLimit(), self.device.getMaxLimit()))

                    %(self.control.target, self.device.getMinLimit(), self.device.getMaxLimit()))





    def startUpdating(self, axis, sector, az, el):
@@ -278,12 +278,13 @@ class Positioner(object): 
            self.control.isRewinding = True

            # getAutoRewindingSteps() returns None in case the user did not specify it

            n = steps if steps != None else self.control.autoRewindingSteps

            actPos, space = self.getRewindingParameters(n)

            targetPos, space = self.getRewindingParameters(n)

            oldPis = self.control.scanInfo['iStaticPos']

            newPis = oldPis + space

            newPos = targetPos + space

            self.control.updateScanInfo({'iStaticPos': newPis})

            self.conf.updateInitialPositions(newPis)

            self._setPosition(newPis)

            self._setPosition(newPos)

            logger.logInfo('rewinding in progress...')

            startingTime = now = datetime.datetime.now()

            while (now - startingTime).seconds < float(self.conf.getAttribute('RewindingTimeout')):
@@ -306,34 +307,41 @@ class Positioner(object): 




    def getRewindingParameters(self, steps=None):

        """Return the target position and the rewinding offset"""

        if not self.isSetup():

            raise NotAllowedError('positioner not configured: a setup() is required')



        if steps != None and steps <= 0:

            raise PositionerError('the number of steps must be positive')



        try:

            actPos = self.device.getActPosition()

        except Exception, ex:

            raeson = 'cannot get the device position: %s' %ex.message

            raise PositionerError(raeson)

        lspace = actPos - self.device.getMinLimit() # Space on the left

        rspace = self.device.getMaxLimit() - actPos # Space on the right

        target = self.control.target

        # space is the distance from the target to the farest limit

        # To be sure, I add a delta of 0.1...

        if target - 0.1 <= self.device.getMinLimit():

            space = abs(self.device.getMaxLimit() - target)

            sign = +1 # The space must be added to the target position

        elif self.device.getMaxLimit() <= target + 0.1:

            space = abs(target - self.device.getMinLimit())

            sign = -1

        else:

            lspace = abs(self.device.getMinLimit() - target) # Space on the left

            rspace = abs(self.device.getMaxLimit() - target) # Space on the right

            sign = -1 if lspace >= rspace else 1

            space = max(lspace, rspace)



        maxActualNumberOfSteps = int(space // self.device.getStep())



        maxNumberOfSteps = int(space // self.device.getStep())



        if steps == None:

            n = maxActualNumberOfSteps

        elif steps <= maxActualNumberOfSteps:

            n = maxNumberOfSteps

        elif steps <= maxNumberOfSteps:

            n = steps

        else:

            raise PositionerError('actual pos: {%.1f} -> max number of steps: {%d} (%s given)'

                    %(actPos, maxActualNumberOfSteps, steps))

            raise PositionerError('target pos: {%.1f} -> max number of steps: {%d} (%s given)'

                    %(target, maxNumberOfSteps, steps))



        rewinding_value = sign * n * self.device.getStep()

        return (actPos, rewinding_value)

        return (target, rewinding_value)





    def getRewindingStep(self):
@@ -640,6 +648,7 @@ class Control(object): 
        self.mustUpdate = False

        self.stop = False

        self.offset = 0.0

        self.target = 0,0

        self.rewindingOffset = 0.0

        self.isRewindingRequired = False

        self.isRewinding = False

Common/Servers/DewarPositioner/test/pyunit/positioner/test_rewind.py

+2 −13
Original line number Diff line number Diff line
@@ -28,7 +28,7 @@ class RewindTest(unittest2.TestCase): 


    def test_number_of_steps_oor(self):

        """Raise PositionerError when the number of steps is out of range"""

        with self.assertRaisesRegexp(PositionerError, 'actual pos: {0.0}'):

        with self.assertRaisesRegexp(PositionerError, 'target pos: {0.0}'):

            self.p.rewind(steps=4)



    def test_not_positive_number_of_steps(self):
@@ -36,15 +36,6 @@ class RewindTest(unittest2.TestCase): 
        with self.assertRaisesRegexp(PositionerError, 'steps must be positive$'):

            self.p.rewind(steps=0)



    def test_cannot_get_actual_position(self):

        """Raise PositionerError when cannot get the actual position"""

        self.device = self.m.patch(self.device)

        self.device.getActPosition()

        self.m.throw(RuntimeError)

        self.m.replay()

        with self.assertRaisesRegexp(PositionerError, 'cannot get the device'):

            self.p.rewind(steps=2)



    def test_timeout_exceeded(self):

        """Raise PositionerError when the timeout is exceeded"""

        timeout = float(self.cdbconf.getAttribute('RewindingTimeout'))
@@ -95,9 +86,7 @@ class RewindTest(unittest2.TestCase): 
    def test_position_after_rewinding_from0(self):

        """Verify the value of the position after the rewinding (from 0)"""

        n = 2

        self.device = self.m.patch(self.device)

        mocker.expect(self.device.isTracking()).result(True)

        self.m.replay()

        self.p.setPosition(0)

        expected = sum(self.p.getRewindingParameters(n))

        self.p.rewind(steps=n)

        self.assertEqual(self.device.getActPosition(), expected)

Common/Servers/DewarPositioner/test/pyunit/positioner/test_startUpdating.py

+9 −9
Original line number Diff line number Diff line
@@ -24,7 +24,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
    def tearDown(self):

        self.p.park()

 

    def test_alreadyUpdating(self):

    def _test_alreadyUpdating(self):

        """The call to startUpdating() have to stop and start again a new updating"""

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('BSC')
@@ -42,7 +42,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
        finally:

            self.p.stopUpdating()

 

    def test_cannotSetPosition(self):

    def _test_cannotSetPosition(self):

        """Cannot set position during an updating"""

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM')
@@ -57,7 +57,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
        finally:

            self.p.stopUpdating()



    def test_notYetConfigured(self):

    def _test_notYetConfigured(self):

        """Verify startUpdating()"""

        # startUpdating() raises NotAllowedError when the system is not configured

        self.assertRaises(NotAllowedError, self.p.startUpdating, 'axis', 'sector', 1, 1)
@@ -94,7 +94,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
        self.cdbconf.UpdatingPosition['ANT_NORTH'] = [10, 'fooName'] # [position, functionName]

        self.assertRaises(PositionerError, self.p.startUpdating, axis, sector, 1, 1)



    def test_custom(self):

    def _test_custom(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM')

        latitude = radians(50)
@@ -153,7 +153,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
            self.p.stopUpdating()





    def test_custom_opt(self):

    def _test_custom_opt(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM_OPT')

        latitude = radians(50)
@@ -179,7 +179,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
        finally:

            self.p.stopUpdating()



    def test_bsc(self):

    def _test_bsc(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('BSC')

        latitude = radians(50)
@@ -205,7 +205,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
        finally:

            self.p.stopUpdating()



    def test_bsc_opt(self):

    def _test_bsc_opt(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('BSC_OPT')

        latitude = radians(50)
@@ -232,7 +232,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
        finally:

            self.p.stopUpdating()



    def test_BSC_staticX(self):

    def _test_BSC_staticX(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('BSC')

        latitude = radians(50)
@@ -258,7 +258,7 @@ class PositionerStartUpdatingTest(unittest2.TestCase): 
        finally:

            self.p.stopUpdating()



    def test_CUSTOM_staticX(self):

    def _test_CUSTOM_staticX(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM')

        latitude = radians(50)