Updated minor servos (#871)

* Fix #865, fix #869, updated SRTMinorServo component

The component now handles correctly a SETUP command.
The component is also capable of commanding the gregorian air blade with the 'setGregorianAirBladeStatus' command.
A few bugs were fixed here and there.
This branch MUST be tested with the real hardware before merging it onto the centos_7_compatibility branch.

* Fixed small bug

* Various upgrades

* Updated _airBlade.py and _servoReset.py

* Updated _servoReset

* Updated telescopePark procedure commands order

With this order, the gregorian cover is started parking when the antenna is already at 89.8 degrees of elevation.
This will avoid getting an error on a gregorian cover axis pre limit.
Unfortunately, this will not fix a change in configuration from primary to gregorian or BWG and vice versa.
That will need to be addressed by opening a ticket.

* Upgraded _servoReset behahviour

Common/Clients/MinorServoBossTextClient/src/MinorServoBossTextClient.cpp

@@ -289,7 +289,7 @@ int main(int argc, char *argv[]) {
 		status_box->setStatusLook(Management::MNG_OK,CStyle(BLACK_GREEN,CStyle::BOLD));
 		status_box->setStatusLook(Management::MNG_WARNING,CStyle(BLACK_YELLOW,CStyle::BOLD));
 		status_box->setStatusLook(Management::MNG_FAILURE,CStyle(BLACK_RED,CStyle::BOLD));
-        _TW_SET_COMPONENT(motionInfo_field,18,3,30,1,CColorPair::WHITE_BLACK,CStyle::BOLD,output_label);
+        _TW_SET_COMPONENT(motionInfo_field,18,3,40,1,CColorPair::WHITE_BLACK,CStyle::BOLD,output_label);
 
         /* ****************************************************************** */
         _TW_SET_COMPONENT(userInput,0,WINDOW_HEIGHT-6,WINDOW_WIDTH-1,1,USER_INPUT_COLOR_PAIR,USER_INPUT_STYLE,NULL);

Common/Clients/SystemTerminal/src/nuraghe_commands.py

@@ -2,6 +2,9 @@ from __future__ import print_function
 # Marco Buttu <mbuttu@oa-cagliari.inaf.it> 
 # Doctrings from the "Observing at the SRT with Nuraghe, Issue n.8, 21/10/14",
 # by Simona Righini and Andrea Orlati"
+# 21/05/2024 G. Carboni: commands prependend with SRT_, Medicina_, Noto_ are
+# only added to the operator input according to the STATION environment
+# variable
 
 
 def antennaPark():
@@ -538,6 +541,12 @@ def servoSetup():
     (CCB, KKG, LLP, PLP, PPP) configures the minor servos in ordet to put on focus the receiver
     """
 
+def SRT_servoReset():
+    """
+    servoReset
+    sends the emergency and alarm reset command to OR7 VBrain server, SRT only
+    """
+
 def setAttenuation():
     """
     setAttenuation=sect,att 
@@ -584,6 +593,29 @@ def setServoOffset():
         setServoOffset=SRP_TY,5
     """
 
+def SRT_setGregorianCoverPosition():
+    """
+    setGregorianCoverPosition=POSITION
+    It sets the gregorian cover position
+    Allowed POSITIONs
+        CLOSED, closed
+        OPEN, open
+    """
+
+def SRT_setGregorianAirBladeStatus():
+    """
+    setGregorianAirBladeStatus=STATUS
+    It sets the gregorian air blade status
+    Allowed STATUSes:
+        AUTO, auto
+        OFF, off
+        ON, on
+    If a ON status is commanded, the air blade stays on for 30 seconds.
+    It can be toggled off manually.
+    Sending setGregorianAirBladeStatus=ON again will toggle the air blade to
+    turn on again.
+    """
+
 def setupCCB():
     """
     The setup command sets the antenna mount, the minor servos, 
@@ -694,6 +726,9 @@ def wx():
     atmospheric pressure (hPa), wind speed (km/h).
     """
 
+stations = ['SRT', 'Medicina', 'Noto']
+import os
+station = os.environ.get('STATION')
 import copy
 myself =  __import__(__name__)
 # Create the commands dictionary
@@ -701,10 +736,14 @@ commands = myself.__dict__.copy() # Shallow copy, but we do not mind
 for cmd in list(commands.keys()):
     if cmd.startswith('__'):
         del commands[cmd]
+    elif any(cmd.startswith(s) for s in stations):
+        command = commands.pop(cmd)
+        s, cmd = cmd.split('_')
+        if s == station:
+            commands[cmd] = command
 
 # Make the setupXXX.__doc__
 for cmd in commands:
     if cmd.startswith('setup'):
         setupXXX = getattr(myself, cmd)
         setupXXX.__doc__ = setupCCB.__doc__
-

Common/Servers/Scheduler/src/Core.cpp

@@ -217,6 +217,9 @@ void CCore::execute() throw(ComponentErrors::TimerErrorExImpl, ComponentErrors::
 	m_parser->add("setServoASConfiguration", "minorservo", 4, &CCore::remoteCall);
 	m_parser->add("clearServoOffsets", "minorservo", 4, &CCore::remoteCall);
 	m_parser->add("setServoOffset", "minorservo", 4, &CCore::remoteCall);
+	m_parser->add("servoReset", "_servoReset", 0, "SRT");
+	m_parser->add("setGregorianCoverPosition", "_cover", 1, "SRT");
+	m_parser->add("setGregorianAirBladeStatus", "_airBlade", 1, "SRT");
 
 	// active surface
 	m_parser->add("asSetup", "activesurface", 5, &CCore::remoteCall);

SRT/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml

@@ -23,10 +23,10 @@
     <MISTRAL>           <axis>ROTATION</axis> <coefficients>-51.821170  </coefficients></MISTRAL>
     <MISTRAL_ASACTIVE>  <axis>ROTATION</axis> <coefficients>-51.821170  </coefficients></MISTRAL_ASACTIVE>
 
-    <!-- BWG - GFR open -->
-    <CCB>               <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB>
-    <CCB_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB_ASACTIVE>
-    <XB>                <axis>ROTATION</axis> <coefficients>0           </coefficients></XB>
-    <XB_ASACTIVE>       <axis>ROTATION</axis> <coefficients>0           </coefficients></XB_ASACTIVE>
+    <!-- BWG - GFR open - configurations commented out since the SETUP command takes care of positioning the GFR to 0 -->
+    <!--CCB>               <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB-->
+    <!--CCB_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB_ASACTIVE-->
+    <!--XB>                <axis>ROTATION</axis> <coefficients>0           </coefficients></XB-->
+    <!--XB_ASACTIVE>       <axis>ROTATION</axis> <coefficients>0           </coefficients></XB_ASACTIVE-->
 
 </SRTMinorServoLookupTable>

SRT/CDB/alma/DataBlock/MinorServo/Tabella Setup.csv

+CONFIGURATION;PFP_TX;PFP_TZ;PFP_RTHETA;SRP_TX;SRP_TY;SRP_TZ;SRP_RX;SRP_RY;SRP_RZ;M3R_RZ;GFR_RZ;DR_GFR1;DR_GFR2;DR_GFR3;DR_PFP;GREGORIAN_CAP;
+Primario;0;0;0;-5;5;-120;0;0;0;*;*;*;*;*;*;1;
+Gregoriano1;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;-88.70659;*;*;*;*;3;
+Gregoriano2;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;-159.8899;*;*;*;*;3;
+Gregoriano3;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;90.97161;*;*;*;*;3;
+Gregoriano4;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;162.771;*;*;*;*;3;
+Gregoriano5;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;55.373967;*;*;*;*;3;
+Gregoriano6;0;0;0;-1.5;11.1393650793988;1.08830677049999;0.049894179898239;-0.036111111111111;0;*;-51.82117;*;*;*;*;3;
+Gregoriano7;0;0;0;*;*;*;*;*;*;*;*;*;*;*;*;*;
+Gregoriano8;0;0;0;*;*;*;*;*;*;*;*;*;*;*;*;*;
+BWG1;0;0;0;-1.5;11.1393650793988;0.358165166130078;0.049894179898239;-0.036111111111111;0;10;0;*;*;*;*;3;
+BWG2;0;0;0;*;*;*;*;*;*;*;*;*;*;*;*;*;
+BWG3;0;0;0;-1.5;11.1393650793988;-3.77159716192807;0.049894179898239;-0.036111111111111;0;20;0;*;*;*;*;3;
+BWG4;0;0;0;*;*;*;*;*;*;*;*;*;*;*;*;*;

SRT/CDB/alma/MINORSERVO/Boss/Boss.xml

@@ -31,7 +31,9 @@
     <control description="Boolean indicating whether the servos are controlled by DISCOS or VBrain" />
     <power description="All drive cabinets power status" />
     <emergency description="Boolean indicating whether there is an emergency button(s) pressed" />
-    <gregorian_cover description="Status of the gregorian cover" />
+    <gregorian_cover description="Position of the gregorian cover" />
+    <air_blade description="Status of the gregorian air blade" />
     <last_executed_command description="UNIX time of the last correctly executed command" />
+    <error_code description="The type of error encountered" />
 
 </SRTMinorServoBoss>

SRT/CDB/alma/MINORSERVO/GFR/GFR.xml

@@ -30,5 +30,6 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
 
 </SRTGenericMinorServo>

SRT/CDB/alma/MINORSERVO/M3R/M3R.xml

@@ -30,5 +30,6 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
 
 </SRTGenericMinorServo>

SRT/CDB/alma/MINORSERVO/PFP/PFP.xml

@@ -31,6 +31,7 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
     <tracking description="Boolean indicating whether the servo is tracking the given coordinates" />
     <trajectory_id description="Unsigned int, the UNIX Epoch * 1000 indicating the start time of the current trajectory" />
     <total_trajectory_points description="Number of points sent for the current trajectory" />

SRT/CDB/alma/MINORSERVO/SRP/SRP.xml

@@ -31,6 +31,7 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
     <tracking description="Boolean indicating whether the servo is tracking the given coordinates" />
     <trajectory_id description="Unsigned int, the UNIX Epoch * 1000 indicating the start time of the current trajectory" />
     <total_trajectory_points description="Number of points sent for the current trajectory" />

SRT/CDB/alma/MINORSERVO/VBrain/VBrain.xml

+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   Giuseppe Carboni, giuseppe.carboni@inaf.it
+-->
+
+<SRTMinorServoVBrainConfiguration
+    xmlns="urn:schemas-cosylab-com:SRTMinorServoVBrainConfiguration:1.0"
+    xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"
+    xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    Protocol="http"
+    IPAddress="127.0.0.1"
+    Port="12799"/>

SRT/CDB/alma/Procedures/StationProcedures/StationProcedures.xml

@@ -137,11 +137,11 @@
 <Procedure name="telescopePark" args="0">
 <body>
 	goTo=*,89.8d
-	receiversPark
-	servoPark
-	asPark
 	waitOnSource
 	antennaStop
+	servoPark
+	asPark
+	receiversPark
 	wait=1
 	antennaPark
 	logMessage=Telescope is now parked

SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml

@@ -23,10 +23,10 @@
     <MISTRAL>           <axis>ROTATION</axis> <coefficients>-51.821170  </coefficients></MISTRAL>
     <MISTRAL_ASACTIVE>  <axis>ROTATION</axis> <coefficients>-51.821170  </coefficients></MISTRAL_ASACTIVE>
 
-    <!-- BWG - GFR open -->
-    <CCB>               <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB>
-    <CCB_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB_ASACTIVE>
-    <XB>                <axis>ROTATION</axis> <coefficients>0           </coefficients></XB>
-    <XB_ASACTIVE>       <axis>ROTATION</axis> <coefficients>0           </coefficients></XB_ASACTIVE>
+    <!-- BWG - GFR open - configurations commented out since the SETUP command takes care of positioning the GFR to 0 -->
+    <!--CCB>               <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB-->
+    <!--CCB_ASACTIVE>      <axis>ROTATION</axis> <coefficients>0           </coefficients></CCB_ASACTIVE-->
+    <!--XB>                <axis>ROTATION</axis> <coefficients>0           </coefficients></XB-->
+    <!--XB_ASACTIVE>       <axis>ROTATION</axis> <coefficients>0           </coefficients></XB_ASACTIVE-->
 
 </SRTMinorServoLookupTable>

SRT/Configuration/CDB/alma/MINORSERVO/Boss/Boss.xml

@@ -31,7 +31,9 @@
     <control description="Boolean indicating whether the servos are controlled by DISCOS or VBrain" />
     <power description="All drive cabinets power status" />
     <emergency description="Boolean indicating whether there is an emergency button(s) pressed" />
-    <gregorian_cover description="Status of the gregorian cover" />
+    <gregorian_cover description="Position of the gregorian cover" />
+    <air_blade description="Status of the gregorian air blade" />
     <last_executed_command description="UNIX time of the last correctly executed command" />
+    <error_code description="The type of error encountered" />
 
 </SRTMinorServoBoss>

SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml

@@ -30,5 +30,6 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
 
 </SRTGenericMinorServo>

SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml

@@ -30,5 +30,6 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
 
 </SRTGenericMinorServo>

SRT/Configuration/CDB/alma/MINORSERVO/PFP/PFP.xml

@@ -31,6 +31,7 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
     <tracking description="Boolean indicating whether the servo is tracking the given coordinates" />
     <trajectory_id description="Unsigned int, the UNIX Epoch * 1000 indicating the start time of the current trajectory" />
     <total_trajectory_points description="Number of points sent for the current trajectory" />

SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml

@@ -31,6 +31,7 @@
     <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
     <in_use description="Boolean indicating whether the servo is in use in the current configuration" />
     <current_setup description="The name of the current configuration" />
+    <error_code description="The type of error encountered" />
     <tracking description="Boolean indicating whether the servo is tracking the given coordinates" />
     <trajectory_id description="Unsigned int, the UNIX Epoch * 1000 indicating the start time of the current trajectory" />
     <total_trajectory_points description="Number of points sent for the current trajectory" />

SRT/Configuration/CDB/alma/MINORSERVO/VBrain/VBrain.xml

+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+   Giuseppe Carboni, giuseppe.carboni@inaf.it
+-->
+
+<SRTMinorServoVBrainConfiguration
+    xmlns="urn:schemas-cosylab-com:SRTMinorServoVBrainConfiguration:1.0"
+    xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"
+    xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    Protocol="https"
+    IPAddress="192.168.200.200"
+    Port="8194"/>

SRT/Configuration/CDB/alma/Procedures/StationProcedures/StationProcedures.xml

@@ -137,11 +137,11 @@
 <Procedure name="telescopePark" args="0">
 <body>
 	goTo=*,89.8d
-	receiversPark
-	servoPark
-	asPark
 	waitOnSource
 	antennaStop
+	servoPark
+	asPark
+	receiversPark
 	wait=1
 	antennaPark
 	logMessage=Telescope is now parked