checkScan() and startScan() do not breake the goTo (a0edcb03) · Commits · INAF / DISCOS

Common/Interfaces/MinorServoInterface/test/functional/test_scan.py

+30 −8

Original line number	Diff line number	Diff line
		@@ -55,12 +55,17 @@ class ScanBaseTest(unittest2.TestCase):
		def tearDown(self):
		if self.boss.isScanActive():
		t = self.boss.closeScan()
		self.waitUntil(t)
		self.waitUntilTime(t)

		def waitUntil(self, targetTime):
		def waitUntilTime(self, targetTime):
		while getTimeStamp().value < targetTime:
		time.sleep(0.1)

		def waitUntil(self, action, value):
		"""For instance: waitUntil(isReady, True)"""
		while action() != value:
		time.sleep(0.1)


		class ScanTest(ScanBaseTest):
		"""Test checkScan(), startScan() and closeScan()"""
		@@ -100,13 +105,23 @@ class ScanTest(ScanBaseTest):
		math.degrees(self.antennaInfo.elevation))
		self.centerScan = centerScanPosition[self.idx]

		def test_startScan_empty_scan(self):
		"""Do nothing in case of empty scan"""
		def test_startScan_empty_scan_system_ready(self):
		"""Do nothing in case of empty scan and system ready"""
		self.scan.is_empty_scan = True
		startTime = 0
		self.boss.startScan(startTime, self.scan, self.antennaInfo)
		self.assertFalse(self.boss.isScanActive())

		def test_startScan_empty_scan_system_not_ready(self):
		"""Do nothing in case of empty scan and system NOT ready"""
		self.scan.is_empty_scan = True
		startTime = 0
		self.boss.park()
		self.waitUntil(self.boss.isReady, False)
		self.assertFalse(self.boss.isReady())
		self.boss.startScan(startTime, self.scan, self.antennaInfo)
		self.assertFalse(self.boss.isScanActive())

		def test_startScan_ASAP(self):
		"""Starting time unknown: the scan must start ASAP"""
		startTime = 0
		@@ -154,7 +169,7 @@ class ScanTest(ScanBaseTest):
		"""Return the time_to_stop"""
		startTime = 0
		t = self.boss.startScan(startTime, self.scan, self.antennaInfo)
		self.waitUntil(startTime)
		self.waitUntilTime(startTime)
		time_to_stop = self.boss.closeScan()
		# The time_to_stop should be greater than now
		self.assertGreater(time_to_stop, getTimeStamp().value)
		@@ -239,7 +254,7 @@ class ScanTest(ScanBaseTest):
		self.assertFalse(self.boss.isScanning())
		self.assertTrue(self.boss.isScanActive())
		# Assertions to verify right after startTime
		self.waitUntil(startTime)
		self.waitUntilTime(startTime)
		self.assertTrue(self.boss.isScanning())
		self.assertTrue(self.boss.isScanActive())
		self.assertAlmostEqual(
		@@ -248,7 +263,7 @@ class ScanTest(ScanBaseTest):
		delta=0.1)
		# Wait untill the scan finishes (one second after the scan)
		targetTime = startTime + self.scan.total_time + 110*7
		self.waitUntil(targetTime)
		self.waitUntilTime(targetTime)
		startPos = self.boss.getAxesPosition(startTime)[self.idx]
		endPos = self.boss.getAxesPosition(targetTime)[self.idx]
		self.assertTrue(self.boss.isScanActive())
		@@ -345,11 +360,18 @@ class ScanTest(ScanBaseTest):
		class ScanInterfaceTest(ScanBaseTest):
		"""Test the interface of startScan() and closeScan()"""

		def test_checkScan_system_not_ready(self):
		def test_checkScan_not_empty_system_not_ready(self):
		"""Raise a MinorServoErrorsEx in case the system is not ready"""
		with self.assertRaises(MinorServoErrorsEx):
		t = self.boss.checkScan(0, self.scan, self.antennaInfo)

		def test_checkScan_empty_scan_system_not_ready(self):
		"""Do nothing in case of empty scan and system NOT ready"""
		self.scan.is_empty_scan = True
		self.assertFalse(self.boss.isReady())
		t = self.boss.checkScan(0, self.scan, self.antennaInfo)
		self.assertFalse(self.boss.isScanActive())

		def test_closeScan_scan_not_active(self):
		"""Do nothing in case no scan is active"""
		self.boss.closeScan()

SRT/Servers/SRTMinorServo/src/MinorServoBossImpl.cpp

+24 −18

Original line number	Diff line number	Diff line
		@@ -722,6 +722,19 @@ CORBA::Boolean MinorServoBossImpl::checkScan(
		MinorServo::TRunTimeParameters_out msParameters
		) throw (MinorServoErrors::MinorServoErrorsEx, ComponentErrors::ComponentErrorsEx)
		{
		MinorServo::TRunTimeParameters_var msParamVar = new MinorServo::TRunTimeParameters;

		msParamVar->onTheFly = false;
		msParamVar->startEpoch = 0;
		msParamVar->centerScan = 0;
		msParamVar->scanAxis = CORBA::string_dup("");
		msParamVar->timeToStop = 0;
		msParameters = msParamVar._retn();

		if(msScanInfo.is_empty_scan == true && !isReady()) {
		return true;
		}

		if(!isReady()) {
		string msg("checkScan(): the system is not ready");
		_EXCPT(MinorServoErrors::StatusErrorExImpl, impl, msg.c_str());
		@@ -735,14 +748,7 @@ CORBA::Boolean MinorServoBossImpl::checkScan(
		impl.log(LM_DEBUG);
		throw impl.getMinorServoErrorsEx();
		}
		MinorServo::TRunTimeParameters_var msParamVar = new MinorServo::TRunTimeParameters;

		msParamVar->onTheFly = false;
		msParamVar->startEpoch = 0;
		msParamVar->centerScan = 0;
		msParamVar->scanAxis = CORBA::string_dup("");
		msParamVar->timeToStop = 0;
		msParameters = msParamVar._retn();
		try {
		return checkScanImpl(startingTime, msScanInfo, antennaInfo, msParameters);
		}
		@@ -1137,6 +1143,12 @@ void MinorServoBossImpl::startScan(
		const Antenna::TRunTimeParameters & antennaInfo
		) throw (MinorServoErrors::MinorServoErrorsEx, ComponentErrors::ComponentErrorsEx)
		{

		if(msScanInfo.is_empty_scan) {
		startingTime = getTimeStamp();
		return ;
		}

		if(!isReady()) {
		string msg("startScan(): the system is not ready");
		_EXCPT(MinorServoErrors::StatusErrorExImpl, impl, msg.c_str());
		@@ -1151,18 +1163,12 @@ void MinorServoBossImpl::startScan(
		throw impl.getMinorServoErrorsEx();
		}

		if(msScanInfo.is_empty_scan) {
		startingTime = getTimeStamp();
		return ;
		}
		else {
		startScanImpl(
		startingTime,
		msScanInfo,
		antennaInfo
		);
		}
		}


		void MinorServoBossImpl::startScanImpl(