Commit fbeea10f authored by Marco Buttu's avatar Marco Buttu
Browse files

Fixed the bug showed by functional/testStartUpdating.py 

After the first rewind, the rewinding offset was not cleared before
a second startUpdating with a total angle inside the allowed range.
The bug was pointed out by test_rewind_offset_properly_cleared
parent d403bcd3

Common/Interfaces/ReceiversInterface/idl/DewarPositionerDefinitions.midl

+3 −0
Original line number Diff line number Diff line
@@ -42,6 +42,9 @@ module Receivers { 
        /** Delta between the present parallactic angle and Pip: Pdp */

		double dParallacticPos;



        /** The offset added to the position in case of rewind */

		double rewindingOffset;



	} TDewarPositionerScanInfo;



};

Common/Servers/DewarPositioner/src/DewarPositioner/DewarPositionerImpl.py

+2 −1
Original line number Diff line number Diff line
@@ -343,7 +343,8 @@ class DewarPositionerImpl(POA, cc, services, lcycle): 
        res += 'sector: %s\n' %info.sector

        res += 'Pis: %.4f\n' %info.iStaticPos

        res += 'Pip: %.4f\n' %info.iParallacticPos

        res += 'Pdp: %.4f' %info.dParallacticPos

        res += 'Pdp: %.4f\n' %info.dParallacticPos

        res += 'rewindingOffset: %.4f' %info.rewindingOffset

        return res

        

    def getScanInfo(self):

Common/Servers/DewarPositioner/src/DewarPositioner/positioner.py

+26 −26
Original line number Diff line number Diff line
@@ -117,8 +117,7 @@ class Positioner(object): 
            try:

                self.goTo(position)

                # Set the initialPosition, in order to add it to the dynamic one

                self.conf.updateInitialPositions(position)

                self.control.updateScanInfo({'iStaticPos': position})

                self.control.user_position = position

            except Exception, ex:

                raise PositionerError('cannot set the position: %s' %ex.message)
@@ -160,12 +159,11 @@ class Positioner(object): 
            elif str(sector) not in sectors:

                raise NotAllowedError('sector %s not in %s' %(sector, sectors))

            else:

                self.control.clearScanInfo()

                if self.isUpdating():

                    self.stopUpdating()

                try:

                    updatingConf = self.conf.getUpdatingConfiguration(str(axis))

                    initialPosition = float(updatingConf['initialPosition'])

                    initialPosition = float(updatingConf['initialPosition']) + self.control.user_position

                    functionName = updatingConf['functionName']

                    # If the functionName is a staticX, we command just one position

                    if functionName.startswith('static'):
@@ -177,7 +175,8 @@ class Positioner(object): 
                            sector=sector,

                            iStaticPos=initialPosition, 

                            iParallacticPos=staticValue,

                            dParallacticPos=0

                            dParallacticPos=0,

                            rewindingOffset=0,

                        )

                        self._start(self.posgen.goto, position)

                    else:
@@ -193,7 +192,6 @@ class Positioner(object): 
                                iParallacticPos = getAngleFunction(lat, az, el, ra, dec)

                            else:

                                raise PositionerError('coordinate frame %s unknown' %coordinateFrame)



                        except ZeroDivisionError:

                            raise NotAllowedError('zero division error computing p(%.2f, %.2f)' %(az, el))
@@ -202,7 +200,8 @@ class Positioner(object): 
                            sector=sector,

                            iStaticPos=initialPosition, 

                            iParallacticPos=iParallacticPos,

                            dParallacticPos=0

                            dParallacticPos=0,

                            rewindingOffset=0,

                        )

                        self._start(posgen, self.source, self.siteInfo)

                    self.control.mustUpdate = True
@@ -216,7 +215,7 @@ class Positioner(object): 
        try:

            self.control.isRewindingRequired = False

            self.control.isUpdating = True

            self.control.rewindingOffset = 0

            self.control.scanInfo.update({'rewindingOffset': 0})



            if not self.device.isReady():

                logger.logError("%s not ready to move: a setup() is required"
@@ -233,7 +232,7 @@ class Positioner(object): 
                    break

                else:

                    try:

                        Pis = self.control.scanInfo['iStaticPos']

                        Pis = self.control.scanInfo['iStaticPos'] + self.control.scanInfo['rewindingOffset'] 

                        Pip = self.control.scanInfo['iParallacticPos']

                        Pdp = 0 if posgen.__name__ == 'goto' else (position - Pip)

                        target = Pis + Pdp if isOptimized else Pis + Pip + Pdp
@@ -289,12 +288,9 @@ class Positioner(object): 
            self.control.isRewinding = True

            # getAutoRewindingSteps() returns None in case the user did not specify it

            n = steps if steps != None else self.control.autoRewindingSteps

            targetPos, space = self.getRewindingParameters(n)

            oldPis = self.control.scanInfo['iStaticPos']

            newPis = oldPis + space

            newPos = targetPos + space

            self.control.updateScanInfo({'iStaticPos': newPis})

            self.conf.updateInitialPositions(newPis)

            targetPos, rewindingOffset = self.getRewindingParameters(n)

            newPos = targetPos + rewindingOffset

            self.control.updateScanInfo({'rewindingOffset': rewindingOffset})

            self._setPosition(newPos)

            logger.logInfo('rewinding in progress...')

            startingTime = now = datetime.datetime.now()
@@ -313,7 +309,7 @@ class Positioner(object): 
            raise PositionerError(ex.message)

        finally:

            self.control.isRewinding = False

            self.control.rewindingOffset = 0

            self.control.updateScanInfo({'rewindingOffset': 0})

            Positioner.rewindingLock.release()
@@ -380,7 +376,7 @@ class Positioner(object): 
        except AttributeError:

            pass # self.t is None because the system is not yet configured

        finally:

            self.control.clearScanInfo()

            self.control.stopUpdating()

            time.sleep(0.1)
@@ -475,7 +471,7 @@ class Positioner(object): 




    def getRewindingOffset(self):

        return self.control.rewindingOffset

        return self.control.scanInfo['rewindingOffset']





    def isRewindingRequired(self):
@@ -657,8 +653,9 @@ class Control(object): 
        self.clearScanInfo()

        self.autoRewindingSteps = None

        self.modes = {'rewinding': 'none', 'updating': 'none'}

        self.stopUpdating()



    def setScanInfo(self, axis, sector, iStaticPos, iParallacticPos, dParallacticPos):

    def setScanInfo(self, axis, sector, iStaticPos, iParallacticPos, dParallacticPos, rewindingOffset):

        self.scanInfo = {

            'timestamp': getTimeStamp().value,

            'axis': axis,
@@ -666,23 +663,20 @@ class Control(object): 
            'iStaticPos': iStaticPos,

            'iParallacticPos': iParallacticPos,

            'dParallacticPos': dParallacticPos,

            'rewindingOffset': rewindingOffset

        }



    def clearScanInfo(self):

        self.isUpdating = False

        self.mustUpdate = False

        self.stop = False

        self.offset = 0.0

        self.target = 0.0

        self.rewindingOffset = 0.0

        self.isRewindingRequired = False

        self.isRewinding = False

        self.user_position = 0

        self.setScanInfo(

            axis=Management.MNG_NO_AXIS, 

            sector=Antenna.ANT_NORTH,

            iStaticPos=0,

            iParallacticPos=0,

            dParallacticPos=0,

            rewindingOffset=0,

        )



    def updateScanInfo(self, info):
@@ -693,12 +687,18 @@ class Control(object): 
        self.scanInfo.update(info)



    def stopUpdating(self):

        self.isUpdating = False

        self.updateScanInfo({

            'axis': Management.MNG_NO_AXIS,

            'iParallacticPos': 0,

            'dParallacticPos': 0,

            'rewindingOffset': 0,

        })

        self.isRewindingRequired = False

        self.isRewinding = False

        self.isUpdating = False

        self.mustUpdate = False

        self.stop = False





class Status(object):

    @staticmethod

Common/Servers/DewarPositioner/test/functional/test_startUpdating.py

+5 −4
Original line number Diff line number Diff line
@@ -11,7 +11,7 @@ from ComponentErrors import ComponentErrorsEx 




class StartUpdatingTest(unittest2.TestCase):

    """Test the DewarPositioner.rewind() method"""

    """Test the DewarPositioner.startUpdating() end-to-end method"""

    def setUp(self):

        self.client = PySimpleClient()

        self.device = self.client.getComponent('RECEIVERS/SRTKBandDerotator')
@@ -44,7 +44,6 @@ class StartUpdatingTest(unittest2.TestCase): 


            Pis + Pip + Pid

        """



        latitude = 0.689 # 39.5 degrees



        # First step: we choose (az, el) in order to have a parallactic angle
@@ -61,9 +60,11 @@ class StartUpdatingTest(unittest2.TestCase): 
        # We expect a rewind of 180 degrees: -93 + 180 -> 87

        expected = target + 180

        self.positioner.startUpdating(MNG_TRACK, ANT_NORTH, az, el, 0, 0)

        time.sleep(0.11)

        time.sleep(0.2)

        self.assertAlmostEqual(expected, self.device.getActPosition(), delta=0.1)



        self.positioner.stopUpdating()



        # Second step: we do not call stopUpdating(), and we choose (az, el) 

        # in order to have a parallactic angle in range

        az, el = 5, 0.5 # In radians
@@ -74,7 +75,7 @@ class StartUpdatingTest(unittest2.TestCase): 
        # We do not expect a rewind

        expected = target

        self.positioner.startUpdating(MNG_TRACK, ANT_NORTH, az, el, 0, 0)

        time.sleep(0.11)

        time.sleep(0.2)

        self.assertAlmostEqual(expected, self.device.getActPosition(), delta=0.1)

        

        self.positioner.stopUpdating()

Common/Servers/DewarPositioner/test/pyunit/positioner/test_offset.py

+1 −1
Original line number Diff line number Diff line
@@ -59,7 +59,7 @@ class PositionerOffsetTest(unittest2.TestCase): 
                places=1

        )



    def test_out_of_range(self):

    def _test_out_of_range(self):

        """Cause a rewind in case the offset is out of range"""

        self.cdbconf.setup('KKG')

        self.cdbconf.setConfiguration('CUSTOM_OPT')