A try to fix some not repeteable issues during setup. (cf2d4128) · Commits · INAF / DISCOS

SRT/Servers/SRTMinorServo/src/SetupThread.cpp

+16 −6

Original line number	Diff line number	Diff line
		@@ -34,7 +34,7 @@ void SetupThread::onStart() {
		AUTO_TRACE("SetupThread::onStart()");

		m_positioning.clear();
		m_configuration->m_status = Management::MNG_WARNING;
		m_configuration->m_status = Management::MNG_OK;
		}

		void SetupThread::onStop() { AUTO_TRACE("SetupThread::onStop()"); }
		@@ -51,6 +51,7 @@ void SetupThread::run()
		}

		vector<string> park_check;
		vector<string> failure_check;

		// Park the components
		unsigned long counter = 0;
		@@ -92,10 +93,19 @@ void SetupThread::run()
		continue;
		}
		else if(status_bset.test(STATUS_FAILURE)) {
		if(find(failure_check.begin(), failure_check.end(), comp_name) != failure_check.end()) {
		string msg(comp_name + " in failure.");
		ACS_SHORT_LOG((LM_ERROR, msg.c_str()));
		if(find(park_check.begin(), park_check.end(), comp_name) == park_check.end())
		park_check.push_back(comp_name);
		}
		else {
		// Try a setup, just once
		if(!component_ref->isStarting()) {
		component_ref->setup(0);
		}
		failure_check.push_back(comp_name);
		}
		continue;
		}
		else if(component_ref->isInEmergencyStop()){
		@@ -273,7 +283,7 @@ void SetupThread::run()
		else if(component_ref->isInEmergencyStop()){
		string msg(comp_name + " in emergency stop.");
		ACS_SHORT_LOG((LM_ERROR, msg.c_str()));
		m_configuration->m_status = Management::MNG_WARNING;
		m_configuration->m_status = Management::MNG_FAILURE;
		m_configuration->m_isStarting = false;
		m_configuration->m_isConfigured = false;
		m_configuration->m_actualSetup = "unknown";

SRT/Servers/SRTMinorServo/src/TrackingThread.cpp

+2 −1

Original line number	Diff line number	Diff line
		@@ -76,7 +76,8 @@ TrackingThread::TrackingThread(
		m_configuration->m_isElevationTracking = true;
		m_configuration->m_status = Management::MNG_OK;
		}
		else {
		// Maybe now it is not starting, parked or parking, because it is ready...
		else if(!component_ref->isReady()) {
		m_configuration->m_status = Management::MNG_FAILURE;
		ACS::ROdoubleSeq_var refActPos = component_ref->actPos();
		ACSErr::Completion_var completion;

SRT/Servers/SRTMinorServo/test/functional/test_setup_after_manual_movement.py

0 → 100755

+87 −0

Original line number	Diff line number	Diff line
		from __future__ import with_statement
		import random
		import math
		import time
		import os
		from datetime import datetime

		import unittest2 # https://pypi.python.org/pypi/unittest2
		import Management
		import MinorServo
		import Antenna

		from MinorServoErrors import MinorServoErrorsEx
		from Acspy.Common.TimeHelper import getTimeStamp
		from Acspy.Clients.SimpleClient import PySimpleClient
		from Acspy.Util import ACSCorba


		__author__ = "Marco Buttu <mbuttu@oa-cagliari.inaf.it>"

		class CannotSetupTest(unittest2.TestCase):

		telescope = os.getenv('TARGETSYS')

		@classmethod
		def setUpClass(cls):
		cls.client = PySimpleClient()
		cls.boss = cls.client.getComponent('MINORSERVO/Boss')
		cls.pfp = cls.client.getComponent('MINORSERVO/PFP')

		@classmethod
		def tearDownClass(cls):
		cls.client.releaseComponent('MINORSERVO/Boss')
		cls.client.releaseComponent('MINORSERVO/PFP')
		cls.client.disconnect()

		def test_setup_after_manual_movement(self):
		"""Verify the setup completes after a manual movement"""
		self.boss.setup('XKP')
		self.wait_until_ready()
		# XKP pos: PFP: RY(mm)=(-25.75); TX(mm)=(-841.15); TZ(mm)=(-45.9);
		target_position = [-25, -900, -47]
		self.pfp.setPosition(target_position, 0)
		self.wait_until(self.pfp.isTracking)
		position = self.pfp.getPositionFromHistory(0)
		# self.assertSequenceEqual(target_position, position)
		self.boss.setup('LLP')
		self.wait_until_ready()
		self.assertEqual(self.boss.getActualSetup(), 'LLP')

		def wait_until(self, is_true, timeout=240):
		time.sleep(0.5)
		t0 = datetime.now()
		while not is_true():
		if (datetime.now() - t0).seconds > timeout:
		assert False, 'Cannot wait_until %s' %is_true
		else:
		time.sleep(1)
		time.sleep(0.5)

		def wait_until_ready(self, timeout=240):
		time.sleep(0.5)
		t0 = datetime.now()
		while not self.boss.isReady():
		if (datetime.now() - t0).seconds > timeout:
		assert False, 'The minor servo boss is not ready'
		else:
		time.sleep(1)
		time.sleep(0.5)

		def wait_until_not_ready(self, timeout=240):
		time.sleep(0.5)
		t0 = datetime.now()
		while self.boss.isReady():
		if (datetime.now() - t0).seconds > timeout:
		assert False, 'The minor servo boss is not parked'
		else:
		time.sleep(1)
		time.sleep(0.5)


		if __name__ == '__main__':
		if 'Configuration' in os.getenv('ACS_CDB'):
		unittest2.main(verbosity=2, failfast=True) # Real test using the antenna CDB
		else:
		from PyMinorServoTest import simunittest
		simunittest.run(CannotSetupTest)

SRT/Servers/SRTMinorServo/test/no_auto/performances/get_axes_positions.py

0 → 100755

+71 −0

Original line number	Diff line number	Diff line
		# mscu-start
		# acsStartContainer -cpp MinorServoContainer
		# acsStartContainer -cpp MinorServoBossContainer
		# acsStartContainer -py AntennaBossSimulatorContainer

		from __future__ import with_statement

		import threading
		import time
		import math
		import datetime
		import Antenna

		from multiprocessing import Value
		from random import randrange as rr
		from Acspy.Clients.SimpleClient import PySimpleClient
		from Acspy.Common.TimeHelper import getTimeStamp

		antenna_client = PySimpleClient()

		# Start a thread in order to set the AntennaBoss position
		stop = Value('i', 0)
		stop.value
		antenna = antenna_client.getComponent('ANTENNA/Boss')
		def set_position(antenna, stop):
		az0 = rr(-100, 50)
		el0 = rr(5, 30)
		while True:
		az = math.radians(az0 + 0.005)
		el = math.radians(el0 + 0.01)
		antenna.setOffsets(az, el, Antenna.ANT_HORIZONTAL)
		time.sleep(0.1)
		if stop.value:
		break

		t = threading.Thread(target=set_position, args = (antenna, stop))
		t.daemon = True
		t.start()

		# Get the MinorServo axes position
		msclient = PySimpleClient()
		boss = msclient.getComponent('MINORSERVO/Boss')
		boss.setup('KKG')
		while not boss.isReady():
		time.sleep(2)

		starting_time = datetime.datetime.now()
		total_time = 1800 # seconds
		deltas = []
		timestamps = []
		while (datetime.datetime.now() - starting_time).seconds < total_time:
		# Random timevalue in the past 2 minutes
		target_time = getTimeStamp().value - rr(10*7, 20010**7)
		t0 = datetime.datetime.now()
		axes = boss.getAxesPosition(target_time)
		delta = datetime.datetime.now() - t0
		sharp_delta = (delta.seconds + delta.microseconds)1.0 / 10*6
		timestamps.append((t0 - starting_time).seconds)
		deltas.append(sharp_delta)
		time.sleep(1)

		print 'Total test time: ', total_time
		print 'max_time: %.4f' % max(deltas)
		print 'min_time: %.4f' % min(deltas)
		with open('outfile', 'w') as outfile:
		for timestamp, delta in zip(timestamps, deltas):
		outfile.write('%d %.4f\n' % (timestamp, delta))

		# Stop the Antenna set_position thread
		stop.value = True
		t.join(5)