Commit a20c84b1 authored by Marco Buttu's avatar Marco Buttu
Browse files

PFP encoder power off and on. 

The MinorServoBoss configuration takes a new action, power_off_encoder.
In that case, a the end of the setup the servo will be disabled and its
encoder powered off. The encoder will be enabled right before the setup.
parent 2be27a42

Common/Interfaces/MinorServoInterface/idl/MinorServo.idl

+11 −0
Original line number Diff line number Diff line
@@ -449,6 +449,17 @@ module MinorServo { 
         boolean isInEmergencyStop();

 

       

       /** Power on the servo encoder */

         void powerOnEncoder();





       /** Power off the servo encoder (to cut RFIs) */

         void powerOffEncoder();





       /** Is the encoder power on */

        // boolean isPowerOnEncoder();

 



        /**

         * Accomplish a WPServo setup at some time.

Common/Interfaces/MinorServoInterface/test/functional/commands/test_servoSetup.py

+18 −1
Original line number Diff line number Diff line
@@ -19,23 +19,40 @@ __author__ = "Marco Buttu <mbuttu@oa-cagliari.inaf.it>" 
class TestServoSetupCmd(unittest2.TestCase):

    """Test the servoSetup command"""



    telescope = os.getenv('TARGETSYS')



    def setUp(self):

        self.telescope = os.getenv('TARGETSYS')

        self.client = PySimpleClient()

        self.boss = self.client.getComponent('MINORSERVO/Boss')

        self.setup_code = "CCB" if self.telescope == "SRT" else "CCC"



    def tearDown(self):

        self.boss.park()

        time.sleep(0.2)

        self.wait_parked()

        self.client.releaseComponent('MINORSERVO/Boss')



    def test_wrong_code(self):

        success, answer = self.boss.command('servoSetup=FOO')

        self.assertFalse(success)

        time.sleep(0.2)

        if self.boss.isStarting():

            self.wait_ready()



    def test_right_code(self):

        success, answer = self.boss.command('servoSetup=' + self.setup_code)

        self.assertTrue(success)

        time.sleep(0.2)

        if self.boss.isStarting():

            self.wait_ready()



    def wait_ready(self):

        while not self.boss.isReady():

            time.sleep(0.1)



    def wait_parked(self):

        while self.boss.isParking():

            time.sleep(0.1)



if __name__ == '__main__':

    if 'Configuration' in os.getenv('ACS_CDB'):

Common/Interfaces/MinorServoInterface/test/functional/commands/test_setServoASConfiguration.py

+7 −3
Original line number Diff line number Diff line
@@ -20,9 +20,14 @@ __author__ = "Marco Buttu <mbuttu@oa-cagliari.inaf.it>" 
class TestSetServoASConfigurationCmd(unittest2.TestCase):

    """Test the setServoASConfiguration command"""



    telescope = os.getenv('TARGETSYS')



    def setUp(self):

        client = PySimpleClient()

        self.boss = client.getComponent('MINORSERVO/Boss')

        self.client = PySimpleClient()

        self.boss = self.client.getComponent('MINORSERVO/Boss')



    def tearDown(self):

        self.client.releaseComponent('MINORSERVO/Boss')



    def test_wrong_axis_code(self):

        success, answer = self.boss.command('setServoASConfiguration=FOO')
@@ -32,7 +37,6 @@ class TestSetServoASConfigurationCmd(unittest2.TestCase): 
        success, answer = self.boss.command('setServoASConfiguration=on')

        self.assertTrue(success)





if __name__ == '__main__':

    if 'Configuration' in os.getenv('ACS_CDB'):

        unittest2.main() # Real test using the antenna CDB

Common/Interfaces/MinorServoInterface/test/functional/commands/test_setServoElevationTracking.py

+7 −2
Original line number Diff line number Diff line
@@ -19,9 +19,14 @@ __author__ = "Marco Buttu <mbuttu@oa-cagliari.inaf.it>" 
class TestSetServoElevationTrackingCmd(unittest2.TestCase):

    """Test the setServoElevationTracking command"""



    telescope = os.getenv('TARGETSYS')



    def setUp(self):

        client = PySimpleClient()

        self.boss = client.getComponent('MINORSERVO/Boss')

        self.client = PySimpleClient()

        self.boss = self.client.getComponent('MINORSERVO/Boss')



    def tearDown(self):

        self.client.releaseComponent('MINORSERVO/Boss')



    def test_wrong_flag(self):

        success, answer = self.boss.command('setServoElevationTracking=FOO')

Common/Interfaces/MinorServoInterface/test/functional/commands/test_setServoOffset.py

+9 −2
Original line number Diff line number Diff line 
from __future__ import with_statement



import os

import math

import time

import unittest2
@@ -18,9 +19,15 @@ __author__ = "Marco Buttu <mbuttu@oa-cagliari.inaf.it>" 
class TestSetServoOffsetCmd(unittest2.TestCase):

    """Test the setServoOffset command"""



    telescope = os.getenv('TARGETSYS')



    def setUp(self):

        client = PySimpleClient()

        self.boss = client.getComponent('MINORSERVO/Boss')

        self.client = PySimpleClient()

        self.boss = self.client.getComponent('MINORSERVO/Boss')



    def tearDown(self):

        self.boss.park()

        self.client.releaseComponent('MINORSERVO/Boss')



    def test_wrong_axis_code(self):

        success, answer = self.boss.command('setServoOffset=FOO_TX,0')