Commit fa7699ba authored by Marco Bartolini's avatar Marco Bartolini
Browse files

working unit and functional tests

parent 1b31f2f9

Medicina/Servers/MedicinaMinorServo/idl/MedMinorServoBoss.idl

+1 −0
Original line number Diff line number Diff line
@@ -21,6 +21,7 @@ module MinorServo{ 
        void connect() raises (MinorServoErrors::CommunicationErrorEx);

        void disconnect() raises (MinorServoErrors::CommunicationErrorEx);

        void reset() raises (MinorServoErrors::CommunicationErrorEx);

        void getServoTime(out ACS::Time servoTime) raises (MinorServoErrors::CommunicationErrorEx);

    };

};

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoControl.hpp

+2 −2
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@@ -40,8 +40,8 @@ typedef boost::shared_ptr<MedMinorServoControl> MedMinorServoControl_sp; 
MedMinorServoControl_sp get_servo_control(

                     const char* server_ip = "192.168.51.30", 

                     const int server_port = MODBUS_TCP_DEFAULT_PORT,

                     double position_buffer_length = 15.0,

                     double position_refresh_time = 0.002,

                     double position_buffer_length = 300.0, //5' position buffer

                     double position_refresh_time = 0.01,

                     double elevation_refresh_time = 0.1); 



/**

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoScan.hpp

+2 −1
Original line number Diff line number Diff line
@@ -9,8 +9,9 @@ 
#include "macros.def"

#include "MedMinorServoGeometry.hpp"

#include "MedMinorServoConstants.hpp"

#include "MedMinorServoTime.hpp"



#define START_SCAN_TOLERANCE 10000000 //1 sec.

#define START_SCAN_TOLERANCE 30000000 //3 sec.

#define SCAN_TOLERANCE 1000000 //0.1 sec.



using namespace std;

Medicina/Servers/MedicinaMinorServo/include/MedMinorServoTime.hpp

+7 −1
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@@ -13,9 +13,11 @@ 
#define SYSTIMEBASE_K_SEC_TO_MSEC               ((uint64_t)1000)

#define SYSTIMEBASE_K_MSEC_TO_USEC              ((uint64_t)1000)

#define SYSTIMEBASE_K_USEC_TO_NSEC              ((uint64_t)1000)

#define SYSTIMEBASE_K_USEC_TO_100NSEC           ((uint64_t)10)

#define SYSTIMEBASE_K_100NSEC                   ((uint64_t)100)



#define SYSTIMEBASE_K_MSEC_TO_100NSEC ((uint64_t)((SYSTIMEBASE_K_MSEC_TO_USEC * SYSTIMEBASE_K_USEC_TO_NSEC) / SYSTIMEBASE_K_100NSEC))

//#define SYSTIMEBASE_K_MSEC_TO_100NSEC ((uint64_t)((SYSTIMEBASE_K_MSEC_TO_USEC * SYSTIMEBASE_K_USEC_TO_NSEC) / SYSTIMEBASE_K_100NSEC))

#define SYSTIMEBASE_K_MSEC_TO_100NSEC ((uint64_t)((SYSTIMEBASE_K_MSEC_TO_USEC * SYSTIMEBASE_K_USEC_TO_100NSEC)))

#define SYSTIMEBASE_K_SEC_TO_100NSEC            ((uint64_t)(SYSTIMEBASE_K_SEC_TO_MSEC * SYSTIMEBASE_K_MSEC_TO_100NSEC))

#define SYSTIMEBASE_K_DAY_TO_100NSEC            ((uint64_t)(SYSTIMEBASE_K_DAY_TO_HOUR * SYSTIMEBASE_K_HOUR_TO_MIN * SYSTIMEBASE_K_MIN_TO_SEC * SYSTIMEBASE_K_SEC_TO_100NSEC))
@@ -41,6 +43,10 @@ class MedMinorServoTime 
        static

        uint64_t

        ACSToServoNow();



        static

        ACS::TimeInterval

        deltaToACSTimeInterval(double delta);

};



#endif

Medicina/Servers/MedicinaMinorServo/include/MinorServoBossImpl.h

+7 −6
Original line number Diff line number Diff line
@@ -454,6 +454,7 @@ public: 
     void connect() throw (MinorServoErrors::CommunicationErrorExImpl);

     void disconnect() throw (MinorServoErrors::CommunicationErrorExImpl);

     void reset() throw (MinorServoErrors::CommunicationErrorExImpl);

     void getServoTime(ACS::Time &servoTime) throw (MinorServoErrors::CommunicationErrorExImpl);

private:

	maci::ContainerServices *m_services;

    //Antenna::AntennaBoss_var m_antenna_boss;