fixed bugs in scans and offset management of MedicinaMinorServo (e38a2eba) · Commits · INAF / DISCOS

Medicina/Servers/MedicinaMinorServo/include/DevIOTracking.h

+17 −7

Original line number	Diff line number	Diff line
		@@ -11,7 +11,10 @@ class DevIOTracking: public virtual DevIO<Management::TBoolean>
		{
		public:

		DevIOTracking(MedMinorServoControl_sp control): m_control(control) {
		DevIOTracking(MedMinorServoStatus * status,
		MedMinorServoControl_sp control):
		m_status(status),
		m_control(control) {
		AUTO_TRACE("DevIOTracking::DevIOTracking()");
		}

		@@ -26,6 +29,12 @@ public:
		Management::TBoolean read(ACS::Time& timestamp) throw (ACSErr::ACSbaseExImpl) {
		AUTO_TRACE("DevIOTracking::read()");
		timestamp=getTimeStamp();
		if(m_status->scan_active)
		if(m_status->scanning)
		m_val=Management::MNG_TRUE;
		else
		m_val=Management::MNG_FALSE;
		else
		if(m_control)
		if (m_control->is_tracking()) {
		m_val=Management::MNG_TRUE;
		@@ -43,6 +52,7 @@ public:
		}

		private:
		MedMinorServoStatus * m_status;
		MedMinorServoControl_sp m_control;
		Management::TBoolean m_val;
		};

Medicina/Servers/MedicinaMinorServo/include/MSBossTracker.hpp

+4 −0

Original line number	Diff line number	Diff line
		@@ -17,11 +17,13 @@
		#include <string>
		#include <ManagmentDefinitionsS.h>
		#include <AntennaBossC.h>
		#include <MinorServoErrors.h>

		#include "slamac.h" //for DR2D

		#include <AntennaProxy.h>

		#include "macros.def"
		#include "MedMinorServoStatus.hpp"
		#include "MedMinorServoControl.hpp"
		#include "MedMinorServoOffset.hpp"
		@@ -30,6 +32,8 @@
		// Sleep Time in 100ns
		#define TRACKER_SLEEP_TIME 1000000 // 100 mseconds

		using namespace std;

		class TrackerThreadParameters
		{
		public:

Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp

+2 −0

Original line number	Diff line number	Diff line
		@@ -74,6 +74,8 @@ void MSBossTracker::runLoop()
		m_control->set_position(correct_position + offset_position);
		//CUSTOM_LOG(LM_FULL_INFO, "MinorServo::MSBossTracker::runLoop",
		// (LM_DEBUG, "Correcting position"));
		}catch(const ServoPositionError& spe){
		THROW_MINORSERVO_EX(PositioningErrorEx, spe.what(), true);
		}catch(...){
		CUSTOM_LOG(LM_FULL_INFO, "MinorServo::MSBossTracker::runLoop",
		(LM_WARNING, "Cannot command offset position"));

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoStatus.cpp

+2 −2

Original line number	Diff line number	Diff line
		@@ -21,10 +21,10 @@ MedMinorServoStatus::getStatusString()
		{
		if(starting)
		return "STARTING";
		if(scan_active)
		return "SCAN_ACTIVE";
		if(scanning)
		return "SCANNING";
		if(scan_active)
		return "SCAN_ACTIVE";
		if(parking)
		return "PARKING";
		if(parked)

Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp

+5 −3

Original line number	Diff line number	Diff line
		@@ -198,7 +198,7 @@ throw (ComponentErrors::MemoryAllocationExImpl)
		getComponent(), new DevIOMotionInfo(&m_servo_status, m_control), true);
		m_tracking = new ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>\
		(getContainerServices()->getName()+":tracking",getComponent(), \
		new DevIOTracking(m_control), true);
		new DevIOTracking(&m_servo_status, m_control), true);
		m_starting = new ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>\
		(getContainerServices()->getName()+":starting",getComponent(), \
		new DevIOStarting(&m_servo_status), true);
		@@ -716,6 +716,7 @@ MinorServoBossImpl::startScanImpl(
		boost::recursive_mutex::scoped_lock lock(_scan_guard);
		m_servo_status.scan_active = true;
		m_servo_status.scanning = false;
		bool was_elevation_tracking = isElevationTracking();
		turnTrackingOff();
		MedMinorServoPosition central_position =
		m_actual_config->get_position(antenna_parameters.elevation);
		@@ -724,7 +725,7 @@ MinorServoBossImpl::startScanImpl(
		scan_parameters.range,
		scan_parameters.total_time,
		std::string(scan_parameters.axis_code),
		isElevationTracking());
		was_elevation_tracking);
		if(!(scan.check()))
		{
		m_servo_status.scan_active = false;
		@@ -974,6 +975,8 @@ MinorServoBossImpl::setCorrectPosition()
		THROW_MINORSERVO_EX(CommunicationErrorEx, ste.what(), true);
		}catch(const ServoConnectionError& sce){
		THROW_MINORSERVO_EX(CommunicationErrorEx, sce.what(), true);
		}catch(const ServoPositionError& spe){
		THROW_MINORSERVO_EX(PositioningErrorEx, spe.what(), true);
		}
		}

		@@ -1133,7 +1136,6 @@ throw (MinorServoErrors::CommunicationErrorExImpl)
		if(m_control)
		m_control->connect();
		else
		//m_control = get_servo_control(m_server_ip);
		m_control.reset(new MedMinorServoControl(m_server_ip));
		}catch(ServoTimeoutError& ste){
		THROW_EX(MinorServoErrors,CommunicationErrorEx, ste.what(), false);