Commit bb77d3e3 authored by Giuseppe Carboni's avatar Giuseppe Carboni Committed by GitHub
Browse files

Fix #437, filtered the new commanded positions to the SRT AS USDs. (#449) 

* Fix #437, filtered the new commanded positions to the SRT AS USDs.

A check on the last commanded step is performed before commanding a new step to each SRT active surface's USD. This will allow to avoid sending the same position multiple times to the USDs, introducing less stress on the LANs and permitting the outermost circles' USDs to be updated in a faster way. This also means that the GUI will have to wait a lot less for a response from the AS Boss when asking the status of the USDs.
parent 2054abb4

SRT/Servers/SRTActiveSurfaceUSDServer/include/usdImpl.h

+6 −0
Original line number Diff line number Diff line
@@ -563,6 +563,7 @@ class USDImpl: public CharacteristicComponentImpl,public virtual POA_ActiveSurfa 
	* threshold between actual and updated position

	*/

	double *actuatorsCorrections;

	double *elevations;

	int parPositions;

	double deltaEL;

	int threshold;
@@ -573,6 +574,11 @@ class USDImpl: public CharacteristicComponentImpl,public virtual POA_ActiveSurfa 
	double m_cammaLenD;

	double m_cammaPosD;



	/**

	* last commanded position (steps)

	*/

	int m_lastCmdStep;



    	/**

    	* usefull range in step

    	*/

SRT/Servers/SRTActiveSurfaceUSDServer/src/usdImpl.cpp

+46 −67
Original line number Diff line number Diff line
@@ -39,6 +39,7 @@ USDImpl::USDImpl(const ACE_CString& CompName, maci::ContainerServices* container 
{ 

	ACS_SHORT_LOG((LM_INFO,"::USDImpl::USDImpl: constructor;Constructor!"));

	actuatorsCorrections = NULL;

	elevations = NULL;

}



void USDImpl::initialize() throw (ACSErr::ACSbaseExImpl)
@@ -65,6 +66,7 @@ void USDImpl::initialize() throw (ACSErr::ACSbaseExImpl) 
		ASErrors::CDBAccessErrorExImpl exImpl(__FILE__,__LINE__,"USDImpl::initialize() - Error reading CDB parameters");

		throw acsErrTypeLifeCycle::LifeCycleExImpl(exImpl,__FILE__,__LINE__,"USDImpl::initialize()");

	}

	m_lastCmdStep = 30000; // a value outside of range -21000/+21000 will never be commanded, so the next commanded position will for sure be different

	m_step2deg=(double)(360./m_step_giro);

	m_step_res=(double)(1./pow(2,m_rs));

	m_top=-m_zeroRef;
@@ -260,6 +262,11 @@ void USDImpl::cleanUp() 
    {

        delete [] actuatorsCorrections;

    }



    if(elevations != NULL)

    {

        delete [] elevations;

    }

}
@@ -283,6 +290,11 @@ void USDImpl::aboutToAbort() 
    {

        delete [] actuatorsCorrections;

    }



    if(elevations != NULL)

    {

        delete [] elevations;

    }

}



void USDImpl::reset() 	throw (CORBA::SystemException,ASErrors::ASErrorsEx)
@@ -546,93 +558,60 @@ void USDImpl:: writeCalibration(CORBA::Double_out cammaLenD, CORBA::Double_out c 


void USDImpl::posTable (const ACS::doubleSeq& theActuatorsCorrections, CORBA::Long theParPositions, CORBA::Double theDeltaEL, CORBA::Long theThreshold)

{

	int s;



	parPositions = theParPositions;

	deltaEL = theDeltaEL;

	threshold = theThreshold;



	if(actuatorsCorrections != NULL)

		delete [] actuatorsCorrections;

	if(elevations != NULL)

		delete [] elevations;

	actuatorsCorrections = new double [parPositions];

	//printf ("corrections = ");

	//printf ("threshold in posTable = %d\n", threshold);

	for (s = 0; s < parPositions; s++) {

	elevations = new double [parPositions-1];

	for (int s = 0; s < parPositions; s++) {

		actuatorsCorrections [s] = theActuatorsCorrections[s];

	//	printf ("%f ", actuatorsCorrections [s]);

		if (s < parPositions-1)

			elevations[s] = (s+1)*deltaEL;

	}

	//printf("\n");

}



void USDImpl::update (CORBA::Double elevation) throw (CORBA::SystemException,ASErrors::ASErrorsEx)

{

	double updatePosMM = 0.0;

	long updatePos;//, actpos, diffPos;

	int k;

	double elevations[parPositions-1];

	bool running;

	long updatePos;



	try {

		for (k = 0; k < parPositions-1; k++)

			elevations [k] = (k+1)*deltaEL;

		if (m_profile == 1 || m_profile == 3) { // FIXED positions

			if (m_profile == 1) { // SHAPED FIXED

				//printf("shaped fixed\n");

		if (m_profile == 1) // SHAPED FIXED

			updatePosMM = actuatorsCorrections[parPositions-5]; // 45

			}

			if (m_profile == 3) { // PARABOLIC FIXED

				//printf("parabolic fixed\n");

		if (m_profile == 3) // PARABOLIC FIXED

			updatePosMM = actuatorsCorrections[parPositions-5] + actuatorsCorrections[parPositions-1]; // 45 + P

			}

			//printf("parabFix = %f,",actuatorsCorrections[parPositions-1]);

			//updatePosMM = actuatorsCorrections[parPositions-1];

		//	updatePos = (CORBA::Long)(updatePosMM*MM2STEP);

			//printf("upPosStep = %ld\n",updatePos);

		//	_SET_PROP(cmdPos,updatePos,"usdImpl::calibrate()")

		}

		else { // SHAPED

			//printf("shaped\n");

			if (elevation <= 15.0) {

		else // SHAPED

		{

			if (elevation <= 15.0)

				updatePosMM = actuatorsCorrections[0];

				// printf("elevation = %f, upPosMM = %f,",elevation,updatePosMM);

			}

			else if (elevation >= 90 ) {

			else if (elevation >= 90 )

				updatePosMM = actuatorsCorrections[parPositions-2];

				// printf("elevation = %f, upPosMM = %f,",elevation,updatePosMM);

			}

			else {

				k = (int)(floor(elevation/deltaEL));

			else

			{

				int k = (int)(floor(elevation/deltaEL));

				updatePosMM = ((elevation-elevations[k-1])/deltaEL)*(actuatorsCorrections[k]-actuatorsCorrections[k-1])+actuatorsCorrections[k-1];

				// printf("elevation = %f, upPosMM = %f,",elevation,updatePosMM);

			}

			if (m_profile == 2) { // SHAPED + PARABOLIC

			//	printf("parabolic\n");

			if (m_profile == 2) // SHAPED + PARABOLIC

				updatePosMM += actuatorsCorrections[parPositions-1];

				// printf("elevation = %f, upPosMM parab = %f,",elevation,updatePosMM);

			}

		//	updatePos = (CORBA::Long)(updatePosMM*MM2STEP);

			// printf("upPosStep = %ld\n",updatePos);

			// _GET_PROP(actPos,actpos,"usdImpl::update()")

			// printf("actpos = %ld\n", actpos);

			// diffPos = labs(actpos-updatePos);

			// printf("threshold = %d\n", threshold);

			// if (diffPos >= threshold) {

				// printf("diff >= threshold: %ld\n", diffPos);

			//_GET_PROP(status,m_status,"usdImpl::update()")

			//running = m_status&MRUN;

			//if (running == false)

			//	_SET_PROP(cmdPos,updatePos,"usdImpl::update()")

			// }

		}

		updatePos = (CORBA::Long)(updatePosMM*MM2STEP);

		if (updatePos > 21000)

			updatePos = 21000;

		if (updatePos < -21000)

			updatePos = -21000;

		//printf("upPosStep = %ld\n",updatePos);

		_GET_PROP(status,m_status,"usdImpl::update()")

		running = m_status&MRUN;

		if (running == false)

		if (updatePos == m_lastCmdStep)

			return;

		_GET_PROP(status,m_status,"usdImpl::calibrate()")

		bool running = m_status&MRUN;

		if (running)

			return;

		_SET_PROP(cmdPos,updatePos,"usdImpl::update()")

		//_SET_PROP(cmdPos,updatePos,"usdImpl::calibrate()")

		m_lastCmdStep = updatePos;

	}

	_CATCH_EXCP_THROW_EX(CORBA::SystemException,corbaError,"::usdImpl::update()",m_addr)	// for CORBA

	_CATCH_EXCP_THROW_EX(ASErrors::DevIOErrorEx,DevIOError,"::usdImpl::update()",m_addr)	// for _GET_PROP