Commit 722a56f7 authored by Marco Bartolini's avatar Marco Bartolini
Browse files

better management of MinorServo checkScan when ASAP requested

parent 3147e96a

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoScan.hpp

+3 −3
Original line number Diff line number Diff line
@@ -37,16 +37,16 @@ class MedMinorServoScan 
        MedMinorServoPosition getStartPosition(){return m_start_position;};

        MedMinorServoPosition getStopPosition(){return m_stop_position;};

        string getAxisCode(){return m_axis_code;};

        ACS::Time getStartingTime(){return m_starting_time;};

        ACS::Time getStartingTime();

        ACS::Time getMovementTime();

        ACS::Time getTotalTime(){return m_total_time;};

        bool was_elevation_tracking(){ return m_was_tracking;};

    private:

        MedMinorServoPosition m_central_position, m_start_position, m_stop_position;

        ACS::Time m_starting_time, m_total_time;

        double m_range, m_min_time, m_max_time;

        double m_range, m_min_time, m_max_time, m_min_start_time;

        string m_axis_code;

        bool m_initialized, m_was_tracking;

        bool m_initialized, m_was_tracking, m_asap;

};



#endif

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoScan.cpp

+29 −7
Original line number Diff line number Diff line
@@ -38,8 +38,10 @@ MedMinorServoScan::init(const MedMinorServoPosition central_position, 
        TIMEVALUE now;

        IRA::CIRATools::getTime(now);

        m_starting_time = now.value().value;

        m_asap = true;

    }else{

        m_starting_time = starting_time;

        m_asap = false;

    }

    m_range = range;

    m_total_time = total_time;
@@ -119,16 +121,19 @@ throw (MinorServoErrors::ScanErrorEx) 
    /**

     * check that we can reach start position in time

     */

    double min_start_time = MedMinorServoGeometry::min_time(m_central_position,

    m_min_start_time = MedMinorServoGeometry::min_time(m_central_position,

                                                            m_start_position);

    if(!m_asap)

    {

        TIMEVALUE now;

        IRA::CIRATools::getTime(now);

    if((m_starting_time + START_SCAN_TOLERANCE) >= (now.value().value + min_start_time * 10000000))

        if((m_starting_time + START_SCAN_TOLERANCE) >= (now.value().value + m_min_start_time * 10000000))

        {

            CUSTOM_LOG(LM_FULL_INFO, "MedMinorServoControl::MedMinorServoScan::check()",

                  (LM_NOTICE, "Cannot reach start position in time"));

            return false;

        }

    }

    /**

     * check that we can perform the scan with given speed

     */
@@ -149,6 +154,23 @@ throw (MinorServoErrors::ScanErrorEx) 
    return true;

}



ACS::Time 

MedMinorServoScan::getStartingTime()

{

    if(!(m_initialized))

        THROW_EX(MinorServoErrors, ScanErrorEx, "Scan is not initialized", true);

    if(m_asap)

    {

        m_min_start_time = MedMinorServoGeometry::min_time(m_central_position,

                                                            m_start_position);

        TIMEVALUE now;

        IRA::CIRATools::getTime(now);

        m_starting_time = now.value().value;

        m_starting_time += (ACS::Time)(m_min_start_time * 10000000) + START_SCAN_TOLERANCE;

    }

    return m_starting_time;

}



ACS::Time 

MedMinorServoScan::getMovementTime()

{