Commit fc2c1f1b authored by Giuseppe Carboni's avatar Giuseppe Carboni
Browse files

Bypassed gregorian cover closing when parking the minor servos

parent 864f5afa

SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp

+3 −2
Original line number Diff line number Diff line
@@ -357,7 +357,8 @@ void SRTMinorServoBossCore::park() 
    m_current_servos.clear();

    m_current_tracking_servos.clear();



    try

    // Skipping this because of the cover not always engaging the limit switch

    /*try

    {

        // Send the STOW command to close the gregorian cover

        if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", COVER_STATUS_CLOSED)).checkOutput())
@@ -376,7 +377,7 @@ void SRTMinorServoBossCore::park() 
        ex.setReason("Error while sending the STOW command to the gregorian cover.");

        ex.log(LM_DEBUG);

        throw ex.getParkingErrorEx();

    }

    }*/



    // Send the STOP command to all the servos

    for(const auto& [servo_name, servo] : m_servos)

SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp

+3 −1
Original line number Diff line number Diff line
@@ -60,7 +60,9 @@ void SRTMinorServoParkThread::runLoop() 
        case 0:

        {

            // First we check if the gregorian cover has closed

            bool completed = m_core.m_status.getGregorianCoverPosition() == COVER_STATUS_CLOSED;

            // TEMPORARY: we skip the gregorian cover closing, therefore we don't check

            //bool completed = m_core.m_status.getGregorianCoverPosition() == COVER_STATUS_CLOSED;

            bool completed = true;



            // Then we cycle through all the servos and make sure their operative mode is STOP

            if(completed && std::all_of(m_core.m_servos.begin(), m_core.m_servos.end(), [](const std::pair<std::string, SRTBaseMinorServo_ptr>& servo) -> bool