Commit b70a2714 authored by marco-buttu's avatar marco-buttu
Browse files

All checkUpdating() tests pass

parent 5f2d70b9

Common/Servers/PyDewarPositioner/src/DewarPositioner/DewarPositionerImpl.py

+0 −1
Original line number Diff line number Diff line
@@ -359,7 +359,6 @@ class DewarPositionerImpl(POA, cc, services, lcycle): 




    def checkUpdating(self, stime, axis, sector, az, el, ra, dec):

        print('In checkUpdating()')

        try:

            return self.positioner.checkUpdating(

                stime, axis, sector, az, el, ra, dec

Common/Servers/PyDewarPositioner/src/DewarPositioner/positioner.py

+9 −9
Original line number Diff line number Diff line
@@ -16,6 +16,10 @@ from IRAPy import logger 
__docformat__ = 'restructuredtext'





TOLERANCE = 2*10**7   # 2 seconds

SAFETY_FACTOR = 1.2





class Positioner(object):

    generalLock = threading.Lock()

    rewindingLock = threading.Lock()
@@ -189,27 +193,23 @@ class Positioner(object): 
        if self.isRewinding():

            # rdistance -> rewinding distance, rtime -> rewinding time

            rdistance = abs(self.getPosition() - self.getCmdPosition())

            # Safety factor of 1.2

            rtime_distance = round((1.2 * rdistance)/speed, 4)

            rtime_distance = round((SAFETY_FACTOR * rdistance)/speed, 4)

            rtime = getTimeStamp().value + int(rtime_distance * 10**7)

            # tdistance -> target distance, ttime -> target time

            # After rewinding, the derotator has to move to the target

            tdistance = abs(self.getCmdPosition() - target)

            # Safety factor of 1.2

            ttime_distance = round((1.2 * tdistance)/speed, 4)

            ttime_distance = round((SAFETY_FACTOR * tdistance)/speed, 4)

            ttime = getTimeStamp().value + int(ttime_distance)

            future_time = rtime + ttime

        else:

            distance = abs(self.getPosition() - target)

            # Safety factor of 1.2

            time_distance = round((1.2 * distance)/speed, 4)

            time_distance = round((SAFETY_FACTOR * distance)/speed, 4)

            future_time = getTimeStamp().value + int(time_distance * 10**7)



        tolerance = 2*10**7  # 2 seconds

        now = getTimeStamp().value

        if stime == 0 and (future_time - now) < tolerance:

        if stime == 0 and (future_time - now) < TOLERANCE:

            ready = True

        elif stime == 0 and (future_time - now) >= tolerance:

        elif stime == 0 and (future_time - now) >= TOLERANCE:

            ready = False

        elif stime >= future_time:

            ready = True

Common/Servers/PyDewarPositioner/test/functional/test_checkUpdating.py

+20 −24
Original line number Diff line number Diff line
@@ -4,6 +4,7 @@ import time 
from Antenna import ANT_HORIZONTAL, ANT_NORTH, ANT_SOUTH

from Management import MNG_TRACK, MNG_BEAMPARK

from DewarPositioner.posgenerator import PosGenerator

from DewarPositioner.positioner import TOLERANCE, SAFETY_FACTOR



from Acspy.Clients.SimpleClient import PySimpleClient

from Acspy.Common.TimeHelper import getTimeStamp
@@ -11,7 +12,7 @@ from ComponentErrors import ComponentErrorsEx 




class TestCheckUpdating(unittest.TestCase):

    """Test the DewarPositioner.startUpdating() end-to-end method"""

    """Test the DewarPositioner.checkUpdating() end-to-end method"""

    def setUp(self):

        self.client = PySimpleClient()

        self.device = self.client.getComponent('RECEIVERS/SRTKBandDerotator')
@@ -30,24 +31,17 @@ class TestCheckUpdating(unittest.TestCase): 
        self.client.releaseComponent('RECEIVERS/DewarPositioner')





    def _test_system_not_ready(self):

    def test_system_not_ready(self):

        """Raise ComponentErrorsEx when the system is not ready"""

        with self.assertRaisesRegexp(ComponentErrorsEx, 'positioner not configured'):

            self.positioner.park()

            time.sleep(0.5)

            starting_time = getTimeStamp().value + 100000000

            az, el, ra, dec = 0, 0, 0, 0

            self.positioner.checkUpdating(

                    starting_time,

                    MNG_TRACK,

                    ANT_SOUTH,

                    az, el, ra, dec

            )

            self.positioner.checkUpdating(0, MNG_TRACK, ANT_SOUTH, 0, 0, 0, 0)





    def _test_mng_beampark(self):

    def test_mng_beampark(self):

        """Return (True, starting_time) when axis is MNG_BEAMPARK"""

        starting_time = getTimeStamp().value + 100000000

        starting_time = getTimeStamp().value + 10**7  # 1 sec in the future

        az, el, ra, dec = 0, 0, 0, 0

        value, feasible_time = self.positioner.checkUpdating(

                starting_time,
@@ -61,9 +55,9 @@ class TestCheckUpdating(unittest.TestCase): 


    def test_starting_time_0_feasible_time_less_than_tolerance(self):

        """We have starting_time == 0 and the system is ready (because

        it requires less than 2 seconds to reach the position). In this case

        it has to return True and a feasible_time less than current time

        plus the tolerance."""

        it requires less than a 2 seconds TOLERANCE to reach the position).

        In this case it has to return True and a feasible_time less than

        current time plus the TOLERANCE."""

        starting_time = 0

        az, el, ra, dec = 0.6109, 0.6109, 0, 0  # 0.6109 -> 35 degrees

        self.antenna.setOffsets(az, el, ANT_HORIZONTAL)
@@ -80,14 +74,15 @@ class TestCheckUpdating(unittest.TestCase): 
        )

        self.assertEqual(value, True)

        self.assertGreater(feasible_time, timestamp)

        self.assertLess(feasible_time, timestamp + 10**7)  # 1 sec

        self.assertLess(feasible_time, timestamp + TOLERANCE)





    def test_starting_time_0_feasible_time_greater_than_tolerance(self):

        """We have starting_time == 0 but the system is not ready (because

        it requires more than 2 seconds to reach the position). In this case

        it has to return False and a feasible_time greater or equal to the

        time required to reach the posizion."""

        it requires more than 2 seconds TOLERANCE to reach the position).

        In this case it has to return False and a feasible_time greater

        than the time required to reach the posizion, and less than the

        required time moltiplied for a safety factor."""

        starting_time = 0

        az, el = 1.2217, 0.6109 # 70 degrees, 35 degrees

        p0 = 0
@@ -105,7 +100,7 @@ class TestCheckUpdating(unittest.TestCase): 
        self.assertEqual(value, False)

        minimum_time = timestamp + int(required_time)

        self.assertGreater(feasible_time, minimum_time)

        safety_time = int(1.3*minimum_time)

        safety_time = int(SAFETY_FACTOR * minimum_time)

        self.assertLess(feasible_time, safety_time)
@@ -130,7 +125,7 @@ class TestCheckUpdating(unittest.TestCase): 
        )

        self.assertEqual(value, True)

        self.assertLess(feasible_time, starting_time)

        self.assertGreater(feasible_time, required_time)

        self.assertGreater(feasible_time, timestamp)





    def test_starting_time_not_0_feasible_time_greater_than_starting_time(self):
@@ -144,7 +139,8 @@ class TestCheckUpdating(unittest.TestCase): 
        speed = self.device.getSpeed()

        required_time = abs(p1 - p0)/speed * 10**7

        timestamp = getTimeStamp().value

        # Starting time is 2 seconds more than the required time

        # The required_time does not add the SAFETY_FACTOR, so the

        # feasbile_time is greater than starting_time

        starting_time = timestamp + int(required_time)

        value, feasible_time = self.positioner.checkUpdating(

                starting_time,
@@ -154,7 +150,7 @@ class TestCheckUpdating(unittest.TestCase): 
        )

        self.assertEqual(value, False)

        self.assertGreater(feasible_time, starting_time)

        safety_time = timestamp + int(required_time*1.2) + 2*10**7

        safety_time = timestamp + int(required_time * SAFETY_FACTOR)

        self.assertLess(feasible_time, safety_time)

Common/Servers/PyDewarPositioner/test/pyunit/positioner/test_startUpdating.py

+12 −0
Original line number Diff line number Diff line
@@ -22,9 +22,11 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        self.cdbconf.attributes['UpdatingTime'] = 0.1

        self.p = Positioner(self.cdbconf)





    def tearDown(self):

        self.p.park()

 



    def test_alreadyUpdating(self):

        """The call to startUpdating() have to stop and start again a new updating"""

        self.cdbconf.setup('KKG')
@@ -43,6 +45,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()

 



    def test_cannotSetPosition(self):

        """Cannot set position during an updating"""

        self.cdbconf.setup('KKG')
@@ -58,6 +61,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()

 



    def test_do_nothing_with_axis_MNG_BEAMPARK(self):

        """Do nothing in case the axis is MNG_BEAMPARK"""

        self.cdbconf.setup('KKG')
@@ -73,6 +77,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()





    def test_notYetConfigured(self):

        """Verify startUpdating()"""

        # startUpdating() raises NotAllowedError when the system is not configured
@@ -110,6 +115,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        self.cdbconf.UpdatingPosition['ANT_NORTH'] = [10, 'fooName'] # [position, functionName]

        self.assertRaises(PositionerError, self.p.startUpdating, axis, sector, 1, 1, None, None)





    def test_custom(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM')
@@ -135,6 +141,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()





    def test_change_of_sign_negative_to_positive(self):

        "The parallactic angle do not have to change from -180 to 180 degrees"

        site_info = {'latitude': radians(39.49)}
@@ -153,6 +160,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
                self.assertLess(delta, 180)

            p0 = angle





    def test_change_of_sign_positive_to_negative(self):

        "The parallactic angle do not have to change from 180 to -180 degrees"

        site_info = {'latitude': radians(39.49)}
@@ -296,6 +304,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()





    def test_bsc(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('BSC')
@@ -322,6 +331,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()





    def test_bsc_opt(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('BSC_OPT')
@@ -349,6 +359,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()





    def test_BSC_staticX(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('BSC')
@@ -375,6 +386,7 @@ class PositionerStartUpdatingTest(unittest.TestCase): 
        finally:

            self.p.stopUpdating()





    def test_CUSTOM_staticX(self):

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM')