Unverified Commit cde686e9 authored by Fabio Vitello's avatar Fabio Vitello Committed by GitHub
Browse files

Fix issue 613 (#705) 



* #613 CDB changes from issue-588 branch

* Changed MedMinorServoConstants

MedMinorServoConstants is now a Singleton class

* update min/max values according to CDB

* Update MedMinorServoParameters.cpp

Fixed position_max

* Update NotoActiveSurfaceBoss.midl

Removed enums TASonewayaction and TASprofile

* Update NotoActiveSurfaceBoss.midl

* Updated MinorServoParameters schema and XML

* moving axis limits on CDB

* Read Limits from CDB Table MinorServoLimits

* Update MedMinorServoParameters.cpp

* Update MedMinorServoParameters.cpp

* Updated MinorServoLimits Table structure

* Update MedMinorServoParameters.cpp

* Rewrited values on xml file

* Update MedMinorServoGeometry.cpp

Catching MinorServoAxisLimitError on  positionToAxes

* Update MedMinorServoGeometry.cpp

* Update MedMinorServoGeometry.cpp

* Update MedMinorServoGeometry.cpp

* Fix #700, IRAPy now imports Connection class, not module (#701)

This will fix the PyCalmux component behavior

* Update MedMinorServoGeometry.cpp

* Fix for IRAPy Connection class (#703)

* Fix #700, IRAPy now imports Connection class, not module

This will fix the PyCalmux component behavior

* Fix #700, fixed a major issue in Connection class

* Fix #697, #698, read changelog

Issue #697: Noto active surface now uses common ASErrors instead of Noto ASErrors
The Noto ASErrors have been removed from the repository in order to avoid confusion

Issue #698: Noto active surface now links ActiveSurfaceCommon in the Makefile

* comment on CDB, populate axis name

* Removed old struct initialization

* Update MedMinorServoGeometry.cpp

Co-authored-by: default avatarAndrea Orlati <aorlati@users.noreply.github.com>
Co-authored-by: default avatarGiuseppe Carboni <giuseppecarboni89@live.com>
parent e24c0801

Common/Libraries/IRALibrary/src/IRAPy/Connection.py

+2 −1
Original line number Diff line number Diff line
@@ -22,12 +22,13 @@ class Connection(object): 


    def __init__(self, address, timeout=2):

        self.address = address

        self.timeout = timeout



    def __enter__(self):

        self.s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

        connected = 1

        t0 = time.time()

        while time.time() - t0 < timeout:

        while time.time() - t0 < self.timeout:

            connected = self.s.connect_ex(self.address)

            if connected == 0:

                break

Common/Libraries/IRALibrary/src/IRAPy/__init__.py

+1 −1
Original line number Diff line number Diff line
@@ -11,7 +11,7 @@ list of modules: 
"""

import customlogging

import ACSLog

import Connection

from Connection import Connection



#Some comments required here. The custom logger mechanism is not working in python. 

#do the way to separate the system logs to the ones do be shown to the user is to use different

Medicina/Servers/MedicinaMinorServo/config/CDB/schemas/MinorServoParameters.xsd

+16 −3
Original line number Diff line number Diff line
@@ -26,8 +26,21 @@ 
 		</xs:sequence>

 	</xs:complexType>

 		

	<xs:complexType name="TTableLimitsHeader">

 		<xs:sequence>

            <xs:element name="MINOR_SERVO_X" type="xs:string" minOccurs="0" maxOccurs="1"/>

            <xs:element name="MINOR_SERVO_YP" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="MINOR_SERVO_Y" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="MINOR_SERVO_ZP" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="MINOR_SERVO_Z1" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="MINOR_SERVO_Z2" type="xs:string" minOccurs="0" maxOccurs="1" />

            <xs:element name="MINOR_SERVO_Z3" type="xs:string" minOccurs="0" maxOccurs="1" />

 		</xs:sequence>

 	</xs:complexType>



	<xs:complexType name="TTableMinorServo">

		<xs:sequence>

		 	<xs:element name="MinorServoLimits" type="TTableLimitsHeader" minOccurs="1" maxOccurs="1"/>

			<xs:element name="MinorServo" type="TTableHeader" minOccurs="1" maxOccurs="unbounded" />

 		</xs:sequence>

 	</xs:complexType>

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoConstants.hpp

+19 −7
Original line number Diff line number Diff line
@@ -13,12 +13,24 @@ struct MedMinorServoAxis_tag 
    double speed_max;

} MedMinorServoAxis;



const MedMinorServoAxis MINOR_SERVO_X = { "X", -80, 80, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_YP = { "YP", -5, 395, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_Y = { "Y", -80, 80, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_ZP = { "ZP", -5, 345, 0.0, 0.05, 0.01, 8.0 };

const MedMinorServoAxis MINOR_SERVO_Z1 = { "Z1", -125, 125, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z2 = { "Z2", -125, 125, 0.0, 0.05, 0.01, 14.0 };

const MedMinorServoAxis MINOR_SERVO_Z3 = { "Z3", -125, 125, 0.0, 0.05, 0.01, 14.0 };

using namespace std;



class MedMinorServoConstants {

public:

    static MedMinorServoConstants *getInstance();

    MedMinorServoAxis MINOR_SERVO_X ;

    MedMinorServoAxis MINOR_SERVO_YP ;

    MedMinorServoAxis MINOR_SERVO_Y ;

    MedMinorServoAxis MINOR_SERVO_ZP ;

    MedMinorServoAxis MINOR_SERVO_Z1 ;

    MedMinorServoAxis MINOR_SERVO_Z2 ;

    MedMinorServoAxis MINOR_SERVO_Z3 ;



private:

    MedMinorServoConstants();

    static MedMinorServoConstants *instance;



};





#endif
 
 No newline at end of file

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoGeometry.hpp

+3 −0
Original line number Diff line number Diff line
@@ -97,6 +97,9 @@ class MedMinorServoPosition 
        double theta_y;

        MedMinorServoMode mode;

        ACS::Time time;

    

    private:

        MedMinorServoConstants *medMinorServoConstants;

};



/**