Commit b3bbae00 authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Fix #672, fix #637, some improvements for the SRTMinorServoCommandLibrary (#674) 

Fix #672, wrote all the commands in capital letters
Fix #673, added the OFFSET command to the library
Also, fixed changed the start_time parameter to be written as an integer
parent 707cdd93

SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoCommandLibrary.h

+18 −10
Original line number Diff line number Diff line
@@ -22,10 +22,10 @@ class SRTMinorServoCommandLibrary 
public:

    /**

     * Builds the command used to ask the status of the MSCU or, eventually, a single servo

     * @param servo_id the ID number of the eventual single servo to retrieve the status

     * @param servo_id the ID string of the eventual single servo to retrieve the status

     * @return the composed message

     */

    static std::string status(int servo_id = -1);

    static std::string status(std::string servo_id = "");



    /**

     * Builds the command used to configure the telescope for an observation
@@ -36,37 +36,45 @@ public: 


    /*

     * Builds the command used to stow a single servo system to a given stow position

     * @param servo_id the ID number of the single servo to be stowed

     * @param servo_id the ID string of the single servo to be stowed

     * @param stow_position the position to which the servo have to stow to

     * @return the composed message

     */

    static std::string stow(unsigned int servo_id, unsigned int stow_position = 0);

    static std::string stow(std::string servo_id, unsigned int stow_position = 0);



    /*

     * Builds the command used to stop a single servo system

     * @param servo_id the ID number of the single servo to be stopped

     * @param servo_id the ID string of the single servo to be stopped

     * @return the composed message

     */

    static std::string stop(unsigned int servo_id);

    static std::string stop(std::string servo_id);



    /*

     * Builds the command used to move a single servo to a given set of coordinates

     * @param servo_id the ID number of the single servo to be moved

     * @param servo_id the ID string of the single servo to be moved

     * @param coordinates a vector containing the N coordinates to be sent to the servo

     * @return the composed message

     */

    static std::string preset(unsigned int servo_id, std::vector<double> coordinates);

    static std::string preset(std::string servo_id, std::vector<double> coordinates);



    /*

     * Builds the command used to provide a single tracking set of coordinates to a single servo

     * @param servo_id the ID number of the single servo to send the command to

     * @param servo_id the ID string of the single servo to send the command to

     * @param trajectory_id the ID number of the trajectory the given set of coordinates belongs to

     * @param point_id the ID number of the given set of coordinates inside the trajectory

     * @param coordinates a vector containing the N coordinates the servo have to move to at the given time

     * @param start_time only mandatory for the first point in the trajectory, a double representing the UNIX epoch of the starting instant of the trajectory

     * @return the composed message

     */

    static std::string programTrack(unsigned int servo_id, unsigned int trajectory_id, unsigned int point_id, std::vector<double> coordinates, double start_time = -1);

    static std::string programTrack(std::string servo_id, long unsigned int trajectory_id, unsigned int point_id, std::vector<double> coordinates, double start_time = 0);



    /*

     * Builds the command used to send a set of offset coordinates

     * @param servo_id the ID string of the single servo to send the offsets to

     * @param coordinates a vector containing the N offsets to be added the servo coordinates

     * @return the composed message

     */

    static std::string offset(std::string servo_id, std::vector<double> coordinates);

};



#endif

SRT/Libraries/SRTMinorServoLibrary/src/Makefile

+8 −4
Original line number Diff line number Diff line
@@ -23,7 +23,7 @@ USER_CFLAGS = -Wall 
#

# additional include and library search paths

# USER_INC = /usr/local/include

USER_LIB = -lgsl -lgslcblas -lm

USER_LIB =



#

# MODULE CODE DESCRIPTION:
@@ -35,7 +35,11 @@ USER_LIB = -lgsl -lgslcblas -lm 
# C programs (public and local)

# -----------------------------

EXECUTABLES     =

EXECUTABLES_L   = 

EXECUTABLES_L   = TestSRTMinorServoCommandLibrary



TestSRTMinorServoCommandLibrary_OBJECTS   = TestSRTMinorServoCommandLibrary

TestSRTMinorServoCommandLibrary_CFLAGS    = -std=c++0x

TestSRTMinorServoCommandLibrary_LIBS      = SRTMinorServoCommandLibrary IRALibrary



#

# <brief description of xxxxx program>
@@ -58,7 +62,7 @@ INCLUDES = hexlib.h SRTMinorServoCommandLibrary.h 
LIBRARIES       = SRTMinorServoLibrary SRTMinorServoCommandLibrary

LIBRARIES_L     =

SRTMinorServoLibrary_OBJECTS = hexlib

SRTMinorServoLibrary_LIBS =

SRTMinorServoLibrary_LIBS = gsl gslcblas m

SRTMinorServoCommandLibrary_OBJECTS = SRTMinorServoCommandLibrary

SRTMinorServoCommandLibrary_LIBS = IRALibrary

SRT/Libraries/SRTMinorServoLibrary/src/SRTMinorServoCommandLibrary.cpp

+29 −17
Original line number Diff line number Diff line
@@ -6,69 +6,81 @@ 


#include "SRTMinorServoCommandLibrary.h"



std::string SRTMinorServoCommandLibrary::status(int servo_id)

std::string SRTMinorServoCommandLibrary::status(std::string servo_id)

{

    std::stringstream command;

    command << "status";

    if(servo_id >= 0)

    command << "STATUS";

    if(servo_id != "")

    {

        command << "=" << servo_id;

    }

    command << std::endl;

    command << "\r\n";

    return command.str();

}



std::string SRTMinorServoCommandLibrary::setup(std::string configuration)

{

    std::stringstream command;

    command << "setup=" << configuration << std::endl;

    command << "SETUP=" << configuration << "\r\n";

    return command.str();

}



std::string SRTMinorServoCommandLibrary::stow(unsigned int servo_id, unsigned int stow_position)

std::string SRTMinorServoCommandLibrary::stow(std::string servo_id, unsigned int stow_position)

{

    std::stringstream command;

    command << "stow=" << servo_id << "," << stow_position << std::endl;

    command << "STOW=" << servo_id << "," << stow_position << "\r\n";

    return command.str();

}



std::string SRTMinorServoCommandLibrary::stop(unsigned int servo_id)

std::string SRTMinorServoCommandLibrary::stop(std::string servo_id)

{

    std::stringstream command;

    command << "stop=" << servo_id << std::endl;

    command << "STOP=" << servo_id << "\r\n";

    return command.str();

}



std::string SRTMinorServoCommandLibrary::preset(unsigned int servo_id, std::vector<double> coordinates)

std::string SRTMinorServoCommandLibrary::preset(std::string servo_id, std::vector<double> coordinates)

{

    std::stringstream command;

    command << "preset=" << servo_id;

    command << "PRESET=" << servo_id;

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

    }

    command << std::endl;

    command << "\r\n";

    return command.str();

}



std::string SRTMinorServoCommandLibrary::programTrack(unsigned int servo_id, unsigned int trajectory_id, unsigned int point_id, std::vector<double> coordinates, double start_time)

std::string SRTMinorServoCommandLibrary::programTrack(std::string servo_id, long unsigned int trajectory_id, unsigned int point_id, std::vector<double> coordinates, double start_time)

{

    std::stringstream command;

    command << "programTrack=" << servo_id << "," << trajectory_id << "," << point_id << ",";

    command << "PROGRAMTRACK=" << servo_id << "," << trajectory_id << "," << point_id << ",";

    if(start_time > 0)

    {

        command << std::fixed << std::setprecision(6) << start_time;

        long unsigned int start_time_int = (long unsigned int)(start_time * 1000);

        command << start_time_int;

    }

    else

    {

        command << "*";

    }

    

    command.unsetf(std::ios_base::floatfield);

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

    }

    command << std::endl;

    command << "\r\n";

    return command.str();

}



std::string SRTMinorServoCommandLibrary::offset(std::string servo_id, std::vector<double> coordinates)

{

    std::stringstream command;

    command << "OFFSET=" << servo_id;

    for(unsigned int coordinate = 0; coordinate < coordinates.size(); coordinate++)

    {

        command << "," << coordinates[coordinate];

    }

    command << "\r\n";

    return command.str();

}

SRT/Libraries/SRTMinorServoLibrary/src/TestSRTMinorServoCommandLibrary.cpp

0 → 100644
+26 −0
Original line number Diff line number Diff line 
#include <iostream>

#include "SRTMinorServoCommandLibrary.h"



using namespace IRA;



int main(void)

{

    // Skipping std::endl since the protocol adds a \n already

    std::cout << SRTMinorServoCommandLibrary::status();

    std::cout << SRTMinorServoCommandLibrary::status("SRP");

    std::cout << SRTMinorServoCommandLibrary::setup("CCB");

    std::cout << SRTMinorServoCommandLibrary::stow("PFP");

    std::cout << SRTMinorServoCommandLibrary::stow("PFP", 1);

    std::cout << SRTMinorServoCommandLibrary::stop("PFP");

    std::cout << SRTMinorServoCommandLibrary::preset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.});



    double start_time = CIRATools::getUNIXEpoch() + 3;

    long unsigned int trajectory_id = (long unsigned int)(start_time * 1000);

    std::cout << SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, 0, std::vector<double>{0.,1.,2.,3.,4.,5.}, start_time);

    for(unsigned int i = 1; i < 10; i++)

    {

        std::cout << SRTMinorServoCommandLibrary::programTrack("PFP", trajectory_id, i, std::vector<double>{0.,1.,2.,3.,4.,5.});

    }



    std::cout << SRTMinorServoCommandLibrary::offset("PFP", std::vector<double>{0.,1.,2.,3.,4.,5.});

}