Commit 64dde958 authored by Marco Bartolini's avatar Marco Bartolini
Browse files

First commit of Medicina Minor Servo into branch

parent 0cd16b68

Medicina/Servers/MedicinaMinorServo/config/CDB/schemas/MinorServo.xsd

0 → 100644
+134 −0
Original line number Diff line number Diff line 
<?xml version="1.0" encoding="ISO-8859-1"?>

<!--

    Author: 

        Marco Buttu, mbuttu@oa-cagliari.inaf.it



    Created: Mon Oct 12 12:08:05 CEST 2009

    Last Modified: Mon Nov  9 11:20:11 CET 2009

-->

<xs:schema

    targetNamespace="urn:schemas-cosylab-com:MinorServo:1.0"

    xmlns:xs="http://www.w3.org/2001/XMLSchema"

    xmlns="urn:schemas-cosylab-com:MinorServo:1.0"

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

    xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"

    xmlns:xi="http://www.w3.org/2001/XInclude"

	xmlns:mng="urn:schemas-cosylab-com:Managment:1.0"

    elementFormDefault="qualified"

    attributeFormDefault="unqualified">



    <xs:import namespace="urn:schemas-cosylab-com:CDB:1.0" schemaLocation="CDB.xsd" />

    <xs:import namespace="urn:schemas-cosylab-com:BACI:1.0" schemaLocation="BACI.xsd" />

    <xs:import namespace="urn:schemas-cosylab-com:Managment:1.0" schemaLocation="Managment.xsd"/>



    <xs:complexType name="WPServoType">



        <!-- ********************* WAVE PATH SERVO PROPERTIES ********************* -->



        <xs:sequence>

            <!-- MinorServo actual position (ROdoubleSeq) -->

            <xs:element name="actPos" type="baci:ROdoubleSeq" />

            <!-- MinorServo plain actual position (ROdoubleSeq) -->

            <xs:element name="plainActPos" type="baci:ROdoubleSeq" />

            <!-- MinorServo commanded position (RWdoubleSeq) -->

            <xs:element name="cmdPos" type="baci:RWdoubleSeq" />

            <!-- Difference between commanded and actual position (ROdoubleSeq) -->

            <xs:element name="posDiff" type="baci:ROdoubleSeq" />

            <!-- MinorServo actual elongation (ROdoubleSeq) -->

            <xs:element name="actElongation" type="baci:ROdoubleSeq" />

            <!-- MinorServo virtual actual elongation (ROdoubleSeq) -->

            <xs:element name="virtualActElongation" type="baci:ROdoubleSeq" />

            <!-- Temperature of slave engine (ROdoubleSeq) -->

            <xs:element name="engTemperature" type="baci:ROdoubleSeq" />

            <!-- Counturing Error of slaves (ROdoubleSeq) -->

            <xs:element name="counturingErr" type="baci:ROdoubleSeq" />

            <!-- Torque Percentage of slaves (ROdoubleSeq) -->

            <xs:element name="torquePerc" type="baci:ROdoubleSeq" />

            <!-- Engine Current of slaves (ROdoubleSeq) -->

            <xs:element name="engCurrent" type="baci:ROdoubleSeq" />

            <!-- Driver Temperature of slaves (ROdoubleSeq) -->

            <xs:element name="driTemperature" type="baci:ROdoubleSeq" />

            <!-- Utilization percentage of slaves (ROdoubleSeq) -->

            <!-- Each item is the utilization percentage of minor servo slave. -->

            <!-- That percentage is the ratio between actual power and maximum supplying power -->

            <xs:element name="utilizationPerc" type="baci:ROdoubleSeq" />

            <!-- Drive Cabinet Temperature(ROdoubleSeq) -->

            <xs:element name="dcTemperature" type="baci:ROdoubleSeq" />

            <!-- Engine Voltage (ROdoubleSeq) -->

            <xs:element name="engVoltage" type="baci:ROdoubleSeq" />

            <!-- Driver Status (ROdoubleSeq) -->

            <xs:element name="driverStatus" type="baci:ROdoubleSeq" />

            <!-- Error Code (ROdoubleSeq) -->

            <xs:element name="errorCode" type="baci:ROdoubleSeq" />

            <xs:element name="status">

                 <xs:complexType>

                    <xs:complexContent>

                        <xs:restriction base="baci:ROpattern">

                            <xs:attribute name="resolution" type="xs:unsignedLong" use="optional" default="65535"/>

                            <xs:attribute name="bitDescription" type="xs:string" use="optional" 

                                default="Ready, Warning, Failure, Setup, Park, Tracking"/>

                            <xs:attribute name="whenSet" type="xs:string" use="optional" default=

                                "3, 3, 3, 3, 3, 3"/>

                            <xs:attribute name="whenCleared" type="xs:string" use="optional" default=

                                "0, 0, 0, 0, 0, 0"/>

                        </xs:restriction>

                    </xs:complexContent>

                </xs:complexType>

            </xs:element>

        </xs:sequence>



        <!-- ********************* WAVE PATH SERVO ATTRIBUTES ********************* -->

        <xs:attribute name="actionThreadStackSize" type="xs:unsignedLong" use="optional" default="1024" />

        <xs:attribute name="monitoringThreadStackSize" type="xs:unsignedLong" use="optional" default="2048" />

        <xs:attribute name="number_of_axis" type="xs:unsignedShort" use="required" />

        <xs:attribute name="number_of_slaves" type="xs:unsignedShort" use="required" />

        <xs:attribute name="scale_factor" type="xs:double" use="required" />

        <xs:attribute name="scale_offset" type="xs:double" use="required" />

        <xs:attribute name="server_ip" type="xs:string" use="required" />

        <xs:attribute name="server_port" type="xs:unsignedShort" use="required" />

        <!-- timeout (microseconds) applied when trying to connect to the axis -->

        <xs:attribute name="timeout" type="xs:unsignedLong" use="optional" />

        <!-- minor servo address, because there are several minor servos behind the

             same server address -->

        <xs:attribute name="servo_address" type="xs:unsignedShort" use="optional" />

        <!-- zero reference position -->

        <xs:attribute name="zero" type="xs:double" use="required" />

        <xs:attribute name="park_position" type="xs:string" use="required" />

        <xs:attribute name="max_speed" type="xs:unsignedLong" use="optional" />

        <xs:attribute name="min_speed" type="xs:unsignedLong" use="optional" />

        <!-- Type of drivers -->

        <xs:attribute name="driver_type" type="xs:string" use="optional" />

        <xs:attribute name="virtual_rs" type="xs:boolean" use="optional" default="0" />

        <xs:attribute name="require_calibration" type="xs:boolean" use="optional" default="0" />

        <!-- Expire time of data request in seconds. For instance: 0.001 for 1ms-->

        <xs:attribute name="expire_time" type="xs:double" use="required" />

        <!-- Maximum value allowed for the difference of two corresponding axis coordinates (mm) -->

        <!-- if |cmdPos – actPos| < tracking_delta, then the axis is following the commanded position -->

        <xs:attribute name="tracking_delta" type="xs:double" use="required" />

        <!-- limits = "(neg1, pos1), (neg2, pos2), ..., (negN, posN)" -->

        <xs:attribute name="limits" type="xs:string" use="required" />



    </xs:complexType>



    <xs:complexType name="MinorServoBossType">

        <xs:sequence>

            <xs:element name="status" type="mng:SystemStatusType" />

            <xs:element name="actualSetup" type="baci:ROstring" />

            <xs:element name="ready" type="mng:BooleanType" />

            <xs:element name="starting" type="mng:BooleanType" />

            <xs:element name="asConfiguration" type="mng:BooleanType" />

            <xs:element name="elevationTrack" type="mng:BooleanType" />

            <xs:element name="scanActive" type="mng:BooleanType" />

            <xs:element name="scanning" type="mng:BooleanType" />

        </xs:sequence>



        <xs:attribute name="server_ip" type="xs:string" use="required" />

        <xs:attribute name="AntennaBossInterface" type="xs:string" use="required" />

        <!-- Subsystem attributes -->

        <xs:attribute name="actionThreadStackSize" type="xs:unsignedLong" use="optional" default="1024" />

        <xs:attribute name="monitoringThreadStackSize" type="xs:unsignedLong" use="optional" default="2048" />

    </xs:complexType>



    <xs:element name="MinorServoBoss" type="MinorServoBossType"/>



</xs:schema>

Medicina/Servers/MedicinaMinorServo/config/CDB/schemas/MinorServoParameters.xsd

0 → 100644
+37 −0
Original line number Diff line number Diff line 
<?xml version="1.0" encoding="ISO-8859-1"?>



<xs:schema

	targetNamespace="urn:schemas-cosylab-com:MinorServoParameters:1.0"

	xmlns="urn:schemas-cosylab-com:MinorServoParameters:1.0"

	xmlns:xs="http://www.w3.org/2001/XMLSchema"

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

	xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"

	elementFormDefault="qualified"

	attributeFormDefault="unqualified">

	<xs:import namespace="urn:schemas-cosylab-com:CDB:1.0" schemaLocation="CDB.xsd"/>

	<xs:import namespace="urn:schemas-cosylab-com:BACI:1.0" schemaLocation="BACI.xsd"/>

	

	<xs:complexType name="TTableHeader">

 		<xs:sequence>

 			<xs:element name="code" type="xs:string" />

            <xs:element name="primary" type="xs:int" default="1" />

            <xs:element name="trackel" type="xs:int" default="1" />

            <xs:element name="Xaxis" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="Yaxis" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="Zaxis" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="THETAXaxis" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="THETAYaxis" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="YPaxis" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="ZPaxis" type="xs:string" minOccurs="0" maxOccurs="1" />

 		</xs:sequence>

 	</xs:complexType>

 	

	<xs:complexType name="TTableMinorServo">

		<xs:sequence>

		 	<xs:element name="MinorServo" type="TTableHeader" minOccurs="1" maxOccurs="unbounded" />

 		</xs:sequence>

 	</xs:complexType>

 		

	<xs:element name="MinorServoParameters" type="TTableMinorServo"/>

	

</xs:schema>

Medicina/Servers/MedicinaMinorServo/config/DataBlock/MinorServoParameters/MinorServoParameters.xml

0 → 100644
+40 −0
Original line number Diff line number Diff line 
<?xml version='1.0' encoding='ISO-8859-1'?>

<!--

    MEDICINA MINOR SERVO PARAMETERS

-->

<MinorServoParameters 

    xmlns="urn:schemas-cosylab-com:MinorServoParameters:1.0"

    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">



    <MinorServo>

        <code>KKC</code>

        <primary>0</primary>

        <trackel>1</trackel>

        <Xaxis>mm,-70.0,70.0,15,0,0,0,0</Xaxis>

        <Yaxis>mm,-70.0,70.0,-38.365,0,0,0,0</Yaxis>

        <Zaxis>mm,-70.0,70.0,0,0,0,0,0</Zaxis>

        <THETAXaxis>deg,-5,5.0,0,0,0,0,0</THETAXaxis>

        <THETAYaxis>deg,-5,5.0,0,0,0,0,0</THETAYaxis>

    </MinorServo>

    <MinorServo>

        <code>CCC</code>

        <primary>0</primary>

        <trackel>1</trackel>

        <Xaxis>mm,-70.0,70.0,-20,0,0,0,0</Xaxis>

        <Yaxis>mm,-70.0,70.0,+40,0,0,0,0</Yaxis>

        <Zaxis>mm,-70.0,70.0,0,0,0,0,0</Zaxis>

        <THETAXaxis>deg,-5,5.0,0,0,0,0,0</THETAXaxis>

        <THETAYaxis>deg,-5,5.0,0,0,0,0,0</THETAYaxis>

    </MinorServo>

    <!--

    <MinorServo>

        <code>XXP</code>

        <primary>1</primary>

        <trackel>0</trackel>

        <YPaxis>mm,-340,-320,-331.09,0,0,0,0</YPaxis>

        <ZPaxis>mm,-320,-300,-306.92,0,0,0,0</YPaxis>

    </MinorServo>

    -->

</MinorServoParameters>

Medicina/Servers/MedicinaMinorServo/idl/MedMinorServoBoss.idl

0 → 100644
+27 −0
Original line number Diff line number Diff line 


/***************************************************************\

 *  Authors: 

 *      Marco Bartolini <bartolini@ira.inaf.it>

 *

 *  Created: Fri Gen 09 10:45:07 CEST 2015

\***************************************************************/

#ifndef __MEDMINORSERVOBOSS_IDL__

#define __MEDMINORSERVOBOSS_IDL__



#include <baci.idl>

#include <ComponentErrors.idl>

#include <ManagmentDefinitions.idl>

#include <MinorServoBoss.idl>

#include <MinorServoErrors.idl>



#pragma prefix "alma"



module MinorServo{

    interface MedMinorServoBoss: MinorServoBoss {

        void connect() raises (MinorServoErrors::CommunicationErrorEx);

        void disconnect() raises (MinorServoErrors::CommunicationErrorEx);

        void reset() raises (MinorServoErrors::CommunicationErrorEx);

    };

};



#endif

Medicina/Servers/MedicinaMinorServo/include/DevIOASConfiguration.h

0 → 100644
+54 −0
Original line number Diff line number Diff line 
#ifndef DEVIOASCONFIGURATION_H_

#define DEVIOASCONFIGURATION_H_





#include <baciDevIO.h>



#include "MedMinorServoStatus.hpp"



using namespace baci;



class DevIOASConfiguration: public virtual DevIO<Management::TBoolean>

{

public:

	

	DevIOASConfiguration(MedMinorServoStatus *status): m_status(status) {

		AUTO_TRACE("DevIOASConfiguration::DevIOASConfiguration()");

	}

	

	~DevIOASConfiguration() {

		AUTO_TRACE("DevIOASConfiguration::~DevIOASConfiguration()");

	}

	

	bool initializeValue() {

		return false;

	}

	

	Management::TBoolean read(ACS::Time& timestamp) throw (ACSErr::ACSbaseExImpl) {

		AUTO_TRACE("DevIOASConfiguration::read()");

		timestamp=getTimeStamp();

		if (m_status->as_configuration) {

			m_val=Management::MNG_TRUE;

		}

		else {

			m_val=Management::MNG_FALSE;

		}

		return m_val;

    }

	

    void write(const ACE_CString &value, ACS::Time& timestamp) throw (ACSErr::ACSbaseExImpl) {

    	AUTO_TRACE("DevIOASConfiguration::write()");

	}

    

private:

	MedMinorServoStatus *m_status;

	Management::TBoolean m_val;

};















#endif /*DEVIOTRACKING_H_*/