Commit 833b087c authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Commented new SRT minor servo files. 

Commented pretty much every file. I will perform some more tests with the simulators before tweaking the system to be used with the current Leonardo minor servo system status.
parent 4cbe905d

SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl

+6 −5
Original line number Diff line number Diff line
@@ -94,27 +94,28 @@ module MinorServo 


        /**

         * This method asks the PLC the status for the corresponding servo

         * @throw MinorServoErrors::MinorServoErrorsEx when trying to reset the offsets when they don't match the ones loaded into the hardware

         * @return true if the servo is not in an error state, false otherwise

         */

        boolean status();

        boolean status() raises (MinorServoErrors::MinorServoErrorsEx);



        /**

         * This method commands a STOW operation to the servo

         * @param stow_position the index of the position we want the servo to stow to

         * @throw MinorServo::MinorServoErrorsEx if there has been a communication error or if the command was not accepted

         * @throw MinorServoErrors::MinorServoErrorsEx if there has been a communication error or if the command was not accepted

         */

        void stow(in long stow_position) raises (MinorServoErrors::MinorServoErrorsEx);



        /**

         * This method commands a STOP operation to the servo

         * @throw MinorServo::MinorServoErrorsEx if there has been a communication error or if the command was not accepted

         * @throw MinorServoErrors::MinorServoErrorsEx if there has been a communication error or if the command was not accepted

         */

        void stop() raises (MinorServoErrors::MinorServoErrorsEx);



        /**

         * This method commands a PRESET operation to the servo

         * @param coordinates, a sequence of double

         * @throw MinorServo::MinorServoErrorsEx if the length of the coordinates sequence doesn't match the number of virtual axes of the servo,

         * @throw MinorServoErrors::MinorServoErrorsEx if the length of the coordinates sequence doesn't match the number of virtual axes of the servo,

         *        if the resulting position summing the offsets would go outside the accepted range of the servo,

         *        if there has been a communication error or if the command was not accepted

         */
@@ -130,7 +131,7 @@ module MinorServo 
        /**

         * This method calculates the servo coordinates for a given elevation

         * @param elevation the elevation to use for the coordinates calculation, expressed in degrees

         * @throw MinorServoErrors::MinorServoErrorsEx when the servo has not been configured yet and has not loaded any coefficient for the position calculalation

         * @throw MinorServoErrors::MinorServoErrorsEx when the servo has not been configured yet and has not loaded any coefficient for the position calculation

         * @return the calculated coordinates as a sequence of doubles

         */

        ACS::doubleSeq calcCoordinates(in double elevation) raises (MinorServoErrors::MinorServoErrorsEx);

SRT/Servers/SRTMinorServo/include/Common.h

deleted100644 → 0
+0 −73
Original line number Diff line number Diff line 
#ifndef __SRTMINORSERVOCOMMON_H__

#define __SRTMINORSERVOCOMMON_H__



#include "SuppressWarnings.h"

#include <SRTMinorServoCommonS.h>

#include <boost/bimap.hpp>

#include <boost/assign.hpp>





namespace MinorServo

{

    // The second value of the pair indicates whether the configuration has a ASACTIVE double configuration

    using DiscosConfigurationNameTableType = std::map<std::string, std::pair<MinorServo::SRTMinorServoFocalConfiguration, bool> >;

    const DiscosConfigurationNameTableType DiscosConfigurationNameTable =

    {

        {"LLP",     std::make_pair(MinorServo::CONFIGURATION_PRIMARY,    false)},

        {"PPP",     std::make_pair(MinorServo::CONFIGURATION_PRIMARY,    false)},

        {"PLP",     std::make_pair(MinorServo::CONFIGURATION_PRIMARY,    false)},

        {"HHP",     std::make_pair(MinorServo::CONFIGURATION_PRIMARY,    false)},

        {"XKP",     std::make_pair(MinorServo::CONFIGURATION_PRIMARY,    false)},

        {"CCG",     std::make_pair(MinorServo::CONFIGURATION_GREGORIAN1, true )},

        {"KKG",     std::make_pair(MinorServo::CONFIGURATION_GREGORIAN2, true )},

        {"WWG",     std::make_pair(MinorServo::CONFIGURATION_GREGORIAN3, true )},

        {"QQG",     std::make_pair(MinorServo::CONFIGURATION_GREGORIAN4, true )},

        {"TRI",     std::make_pair(MinorServo::CONFIGURATION_GREGORIAN5, true )},

        {"MISTRAL", std::make_pair(MinorServo::CONFIGURATION_GREGORIAN6, true )},

        {"CCB",     std::make_pair(MinorServo::CONFIGURATION_BWG1,       true )},

        {"XB",      std::make_pair(MinorServo::CONFIGURATION_BWG3,       true )},

    };



    using LDOConfigurationNameTableType = boost::bimap<MinorServo::SRTMinorServoFocalConfiguration, std::string>;

    const LDOConfigurationNameTableType LDOConfigurationNameTable = boost::assign::list_of< LDOConfigurationNameTableType::relation >

        (MinorServo::CONFIGURATION_PRIMARY,     "Primario")

        (MinorServo::CONFIGURATION_GREGORIAN1,  "Gregoriano 1")

        (MinorServo::CONFIGURATION_GREGORIAN2,  "Gregoriano 2")

        (MinorServo::CONFIGURATION_GREGORIAN3,  "Gregoriano 3")

        (MinorServo::CONFIGURATION_GREGORIAN4,  "Gregoriano 4")

        (MinorServo::CONFIGURATION_GREGORIAN5,  "Gregoriano 5")

        (MinorServo::CONFIGURATION_GREGORIAN6,  "Gregoriano 6")

        (MinorServo::CONFIGURATION_GREGORIAN7,  "Gregoriano 7")

        (MinorServo::CONFIGURATION_GREGORIAN8,  "Gregoriano 8")

        (MinorServo::CONFIGURATION_BWG1,        "BWG1")

        (MinorServo::CONFIGURATION_BWG2,        "BWG2")

        (MinorServo::CONFIGURATION_BWG3,        "BWG3")

        (MinorServo::CONFIGURATION_BWG4,        "BWG4");



    using LDOConfigurationIDTableType = boost::bimap<MinorServo::SRTMinorServoFocalConfiguration, unsigned int>;

    const LDOConfigurationIDTableType LDOConfigurationIDTable = boost::assign::list_of< LDOConfigurationIDTableType::relation >

        (MinorServo::CONFIGURATION_UNKNOWN,     0)

        (MinorServo::CONFIGURATION_PRIMARY,     1)

        (MinorServo::CONFIGURATION_GREGORIAN1,  11)

        (MinorServo::CONFIGURATION_GREGORIAN2,  12)

        (MinorServo::CONFIGURATION_GREGORIAN3,  13)

        (MinorServo::CONFIGURATION_GREGORIAN4,  14)

        (MinorServo::CONFIGURATION_GREGORIAN5,  15)

        (MinorServo::CONFIGURATION_GREGORIAN6,  16)

        (MinorServo::CONFIGURATION_GREGORIAN7,  17)

        (MinorServo::CONFIGURATION_GREGORIAN8,  18)

        (MinorServo::CONFIGURATION_BWG1,        21)

        (MinorServo::CONFIGURATION_BWG2,        22)

        (MinorServo::CONFIGURATION_BWG3,        23)

        (MinorServo::CONFIGURATION_BWG4,        24);



    const std::vector<std::string> ServoOrder = 

    {

        "PFP",

        "SRP",

        "GFR",

        "M3R",

    };

}



#endif

SRT/Servers/SRTMinorServo/include/MSDevIOs.h

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SRT/Servers/SRTMinorServo/include/SRTMinorServoBossCore.h

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SRT/Servers/SRTMinorServo/include/SRTMinorServoBossImpl.h

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