Commit 7f7ebd71 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Merge branch 'srt-new-minor-servos' of https://github.com/discos/discos into srt-new-minor-servos

parents e1450f7b d1d00f36

SRT/Servers/SRTMinorServo/include/SRTMinorServoBossCore.h

+2 −2
Original line number Diff line number Diff line
@@ -15,7 +15,7 @@ 
#include <enumpropROImpl.h>

#include <SRTMinorServoBossS.h>

#include <SRTMinorServoS.h>

#include <AntennaBossC.h>

#include <AntennaProxy.h>

#include <ManagmentDefinitionsS.h>

#include <thread>

#include <chrono>
@@ -310,7 +310,7 @@ private: 
    /**

     * Pointer to the AntennaBoss component.

     */

    Antenna::AntennaBoss_var m_antennaBoss;

    Antenna::AntennaBoss_proxy m_antennaBoss;



    /**

     * SRTMinorServoGeneralStatus object containing the status read from the PLC.

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp

+12 −19
Original line number Diff line number Diff line
@@ -9,7 +9,7 @@ SRTMinorServoBossCore::SRTMinorServoBossCore(SRTMinorServoBossImpl& component) : 
    m_park_thread(nullptr),

    m_tracking_thread(nullptr),

    m_scan_thread(nullptr),

    m_antennaBoss(Antenna::AntennaBoss::_nil()),

    m_antennaBoss("IDL:alma/Antenna/AntennaBoss:1.0", m_component.getContainerServices()),

    m_status(),

    m_motion_status(MOTION_STATUS_UNCONFIGURED),

    m_commanded_setup("Unknown"),
@@ -146,6 +146,14 @@ bool SRTMinorServoBossCore::status() 
            m_tracking.store(Management::MNG_FALSE);

        }

    }

    else if(motion_status == MOTION_STATUS_CONFIGURED)

    {

        m_tracking.store(Management::MNG_TRUE);

    }

    else

    {

        m_tracking.store(Management::MNG_FALSE);

    }



    return true;

}
@@ -1162,33 +1170,18 @@ void SRTMinorServoBossCore::closeScan(ACS::Time& close_time) 
double SRTMinorServoBossCore::getElevation(const ACS::Time& acs_time)

{

    AUTO_TRACE("SRTMinorServoBossCore::getElevation()");

    // TODO automatically try to get a new reference if the AntennaBoss component were to be deallocated

    // What happens if we lose the reference? m_antennaBoss will not be _nil but getRawCoordinates will behave unexpectedly



    // Retrieve the AntennaBoss component if it was not initialized yet

    double azimuth, elevation;



    try

    {

        if(CORBA::is_nil(m_antennaBoss))

        {

            m_antennaBoss = m_component.getContainerServices()->getComponent<Antenna::AntennaBoss>("ANTENNA/Boss");

        }



        double azimuth, elevation;

        m_antennaBoss->getRawCoordinates(acs_time, azimuth, elevation);

        elevation *= DR2D;

        // If the antennaBoss didn't command any movement to the telescope yet we get an elevation of 0°

        // We don't want to track an elevation of 0°, especially when DISCOS just started

        // There is a high chance the antenna is still at around 90° of elevation

        // We "initialize" the tracking to an elevation of 45°

        return elevation == 0.0 ? 45.0 : elevation;

    }

    catch(maciErrType::CannotGetComponentExImpl& impl)

    catch(ComponentErrors::CouldntGetComponentExImpl& ex)

    {

        m_antennaBoss = Antenna::AntennaBoss::_nil();

        _EXCPT(ComponentErrors::CouldntGetComponentExImpl, ex, "SRTMinorServoBossCore::getElevation()");

        ex.setComponentName("ANTENNA/Boss");

        ex.addData("Reason", "Cannot get the ANTENNA/Boss component");

        ex.log(LM_DEBUG);

        throw ex.getComponentErrorsEx();

    }

}