Porting master branch features into stable

CHANGELOG.md

@@ -68,3 +68,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/
 ### Fixed
     issue #452 - The Total Power component erroneously assigned a timestamp to the samples in case more samples were needed to reach total integration time
     issue #473 - The SRT AS USDs now retry 5 times to communicate with the hardware before setting their state to unavailable
+
+## [discos1.0.4] 03-02-2020
+### Added
+    issue #505 - CALMUX integrated and tested into the SRT production line (it has been successfully tested with DBBC and DFB backends)
+### Changed
+    issue #477 - removed the SecureArea from some AntennaBoss methods
+    issue #476 - replaced all occurrencies of DPI/2 with the defined variable DPIBY2, this should improve precision
+    issue #489 - new focus curve for SRT X band receiver
+    issue #506 - each SRT local oscillator now has its dedicated container
+    issue #510 - fixed SRT TotalPower CDB configuration in order to use the correct IP address
+### Fixed
+    issue #433 - limited refraction correction values to a meaningful range in order to avoid flooding the jlog with warning messages whenever the elevation is close to 90 degrees
+    issue #502 - removed last service daemon reference from Manager.xml io SRT production line

Common/Libraries/IRALibrary/src/IRATools.cpp

@@ -841,7 +841,7 @@ bool CIRATools::latitudeToRad(const IRA::CString& lat,double& rad,bool complete,
 		res=sexagesimalAngleToRad(lat,rad,complete,delimiter);
 	}
 	if (complete) {
-		if ((rad<-(DPI/2)) || (rad>(DPI/2))) return false;
+		if (rad<-DPIBY2 || rad>DPIBY2) return false;
 		else return res;
 	}
 	else return res;
@@ -915,7 +915,7 @@ bool CIRATools::elevationToRad(const IRA::CString& el,double& rad,bool complete)
 {
 	bool res=angleToRad(el,rad);
 	if (complete) {
-		if ((rad<0) || (rad>DPI/2)) return false;
+		if (rad<0 || rad>DPIBY2) return false;
 		else return res;
 	}
 	else return res;

Common/Misc/UserTools/src/SourceTrack.cpp

@@ -202,7 +202,7 @@ int main(int argc, char *argv[])
 	_CP_ printf("Horizontal coordinates:\tazimuth %.8lf°, elevation %.8lf°\n",az*DR2D,el*DR2D);
 
 
-	double obsZenithDistance=(DPI/2.0)-el;
+	double obsZenithDistance=DPIBY2-el;
 	double corZenithDistance;
 	double tdk = 13 + 273.0; // temperature
 	double wl = 36000.0;

Common/Servers/AntennaBoss/include/AntennaBossImpl.h

@@ -673,6 +673,7 @@ private:
 	SmartPropertyPointer<ROdouble> m_pdeclinationOffset;
 	SmartPropertyPointer<ROdouble> m_plongitudeOffset;
 	SmartPropertyPointer<ROdouble> m_platitudeOffset;
+	CBossCore *m_boss;
 	IRA::CSecureArea<CBossCore> *m_core;
 	CWorkingThread *m_workingThread;
 	CWatchingThread *m_watchingThread;

Common/Servers/AntennaBoss/src/AntennaBossImpl.cpp

@@ -56,6 +56,7 @@ AntennaBossImpl::AntennaBossImpl(const ACE_CString &CompName,maci::ContainerServ
 	m_pdeclinationOffset(this),
 	m_plongitudeOffset(this),
 	m_platitudeOffset(this),
+	m_boss(NULL),
 	m_core(NULL)
 {	
 	AUTO_TRACE("AntennaBossImpl::AntennaBossImpl()");
@@ -71,7 +72,6 @@ AntennaBossImpl::~AntennaBossImpl()
 void AntennaBossImpl::initialize() throw (ACSErr::ACSbaseExImpl)
 {
 	AUTO_TRACE("AntennaBossImpl::initialize()");
-	CBossCore *boss;
 	ACS_LOG(LM_FULL_INFO,"AntennaBossImpl::initialize()",(LM_INFO,"AntennaBoss::COMPSTATE_INITIALIZING"));
 	try {
 		m_config.init(getContainerServices());    //throw CDBAcessExImpl;
@@ -81,8 +81,8 @@ void AntennaBossImpl::initialize() throw (ACSErr::ACSbaseExImpl)
 		throw _dummy;
 	}
 	try {
-		boss=(CBossCore *)new CBossCore(getContainerServices(),&m_config,this);
-		m_core=new IRA::CSecureArea<CBossCore>(boss);
+		m_boss=(CBossCore *)new CBossCore(getContainerServices(),&m_config,this);
+		m_core=new IRA::CSecureArea<CBossCore>(m_boss);
 		m_ptarget=new ROstring(getContainerServices()->getName()+":target",getComponent(),new DevIOTargetName(m_core),true);
 		m_prawAzimuth=new ROdouble(getContainerServices()->getName()+":rawAzimuth",getComponent(),
 				new DevIORawHorizontal(m_core,DevIORawHorizontal::AZIMUTH),true);
@@ -143,16 +143,16 @@ void AntennaBossImpl::initialize() throw (ACSErr::ACSbaseExImpl)
 				new DevIOOffsets(m_core,DevIOOffsets::LATITUDEOFF),true);
 		
 		// create the parser for command line execution
-		m_parser =  new SimpleParser::CParser<CBossCore>(boss,10);
+		m_parser =  new SimpleParser::CParser<CBossCore>(m_boss,10);
 	}
 	catch (std::bad_alloc& ex) {
 		_EXCPT(ComponentErrors::MemoryAllocationExImpl,dummy,"AntennaBossImpl::initialize()");
 		throw dummy;
 	}
-	boss->initialize(); //could throw (ComponentErrors::UnexpectedExImpl)
+	m_boss->initialize(); //could throw (ComponentErrors::UnexpectedExImpl)
 	try {
 		m_watchingThread=getContainerServices()->getThreadManager()->create<CWatchingThread,CBossCore*>
-		  ("BOSSWATCHER",boss);
+		  ("BOSSWATCHER",m_boss);
 		m_workingThread=getContainerServices()->getThreadManager()->create<CWorkingThread,CSecureArea<CBossCore> *>
 		  ("BOSSWORKER",m_core);
 	}
@@ -164,30 +164,30 @@ void AntennaBossImpl::initialize() throw (ACSErr::ACSbaseExImpl)
 		_THROW_EXCPT(ComponentErrors::UnexpectedExImpl,"AntennaBossImpl::initialize()");
 	}
 	// inform the boss core of the thread in charge of trajectory update
-	boss->setWorkingThread(m_workingThread);
+	m_boss->setWorkingThread(m_workingThread);
 	// configure the parser.....
-	m_parser->add("antennaDisable",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::disable),0);
-	m_parser->add("antennaEnable",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::enable),0);
-	m_parser->add("antennaCorrectionOn",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::enableCorrection),0);
-	m_parser->add("antennaCorrectionOff",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::disableCorrection),0);
-	m_parser->add("antennaPark",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::stow),0);
-	m_parser->add("antennaStop",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::stop),0);
-	m_parser->add("antennaAzEl",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::setPreset),0);
-	m_parser->add("antennaTrack",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::setProgramTrack),0);
-	m_parser->add("antennaUnstow",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::unstow),0);
-	m_parser->add("antennaSetup",new function1<CBossCore,non_constant,void_type,I<string_type> >(boss,&CBossCore::setup),1);
-	m_parser->add("preset",new function2<CBossCore,non_constant,void_type,I<angle_type<rad> >,I<angle_type<rad> > >(boss,&CBossCore::preset),2);
-	//m_parser->add("vlsr",new function1<CBossCore,non_constant,void_type,I<double_type> >(boss,&CBossCore::setVlsr),1);
-	m_parser->add("fwhm",new function2<CBossCore,non_constant,void_type,I<angle_type<rad> >, I<double_type> >(boss,&CBossCore::setFWHM),2);
-	m_parser->add("azelOffsets",new function2<CBossCore,non_constant,void_type,I<angleOffset_type<rad> >,I<angleOffset_type<rad> > >(boss,&CBossCore::setHorizontalOffsets),2);
-	m_parser->add("radecOffsets",new function2<CBossCore,non_constant,void_type,I<angleOffset_type<rad> >,I<angleOffset_type<rad> > >(boss,&CBossCore::setEquatorialOffsets),2);
-	m_parser->add("lonlatOffsets",new function2<CBossCore,non_constant,void_type,I<angleOffset_type<rad> >,I<angleOffset_type<rad> > >(boss,&CBossCore::setGalacticOffsets),2);
-	//m_parser->add("skydipOTF",new function3<CBossCore,non_constant,time_type,I<elevation_type<rad,false> >,I<elevation_type<rad,false> >,I<interval_type> >(boss,&CBossCore::skydip),3);
-	m_parser->add("antennaReset",new function0<CBossCore,non_constant,void_type >(boss,&CBossCore::resetFailures),0);
-	//m_parser->add("goOff",new function2<CBossCore,non_constant,void_type,I<enum_type<AntennaFrame2String,Antenna::TCoordinateFrame > >,I<double_type > >(boss,&CBossCore::goOff),2);
+	m_parser->add("antennaDisable",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::disable),0);
+	m_parser->add("antennaEnable",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::enable),0);
+	m_parser->add("antennaCorrectionOn",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::enableCorrection),0);
+	m_parser->add("antennaCorrectionOff",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::disableCorrection),0);
+	m_parser->add("antennaPark",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::stow),0);
+	m_parser->add("antennaStop",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::stop),0);
+	m_parser->add("antennaAzEl",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::setPreset),0);
+	m_parser->add("antennaTrack",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::setProgramTrack),0);
+	m_parser->add("antennaUnstow",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::unstow),0);
+	m_parser->add("antennaSetup",new function1<CBossCore,non_constant,void_type,I<string_type> >(m_boss,&CBossCore::setup),1);
+	m_parser->add("preset",new function2<CBossCore,non_constant,void_type,I<angle_type<rad> >,I<angle_type<rad> > >(m_boss,&CBossCore::preset),2);
+	//m_parser->add("vlsr",new function1<CBossCore,non_constant,void_type,I<double_type> >(m_boss,&CBossCore::setVlsr),1);
+	m_parser->add("fwhm",new function2<CBossCore,non_constant,void_type,I<angle_type<rad> >, I<double_type> >(m_boss,&CBossCore::setFWHM),2);
+	m_parser->add("azelOffsets",new function2<CBossCore,non_constant,void_type,I<angleOffset_type<rad> >,I<angleOffset_type<rad> > >(m_boss,&CBossCore::setHorizontalOffsets),2);
+	m_parser->add("radecOffsets",new function2<CBossCore,non_constant,void_type,I<angleOffset_type<rad> >,I<angleOffset_type<rad> > >(m_boss,&CBossCore::setEquatorialOffsets),2);
+	m_parser->add("lonlatOffsets",new function2<CBossCore,non_constant,void_type,I<angleOffset_type<rad> >,I<angleOffset_type<rad> > >(m_boss,&CBossCore::setGalacticOffsets),2);
+	//m_parser->add("skydipOTF",new function3<CBossCore,non_constant,time_type,I<elevation_type<rad,false> >,I<elevation_type<rad,false> >,I<interval_type> >(m_boss,&CBossCore::skydip),3);
+	m_parser->add("antennaReset",new function0<CBossCore,non_constant,void_type >(m_boss,&CBossCore::resetFailures),0);
+	//m_parser->add("goOff",new function2<CBossCore,non_constant,void_type,I<enum_type<AntennaFrame2String,Antenna::TCoordinateFrame > >,I<double_type > >(m_boss,&CBossCore::goOff),2);
 	m_parser->add("radialVelocity",new function3<CBossCore,non_constant,void_type,I<  basic_type<double,double_converter,VRad_WildCard> >,
 			I<enum_type<ReferenceFrame_converter,Antenna::TReferenceFrame,ReferenceFrame_WildCard> >,
-			I<enum_type<VradDefinition_converter,Antenna::TVradDefinition,VradDefinition_WildCard> >  >(boss,&CBossCore::radialVelocity),3);
+			I<enum_type<VradDefinition_converter,Antenna::TVradDefinition,VradDefinition_WildCard> >  >(m_boss,&CBossCore::radialVelocity),3);
 	ACS_LOG(LM_FULL_INFO,"AntennaBossImpl::initialize()",(LM_INFO,"COMPSTATE_INITIALIZED"));
 }
 
@@ -543,9 +543,12 @@ void AntennaBossImpl::getRawCoordinates(ACS::Time time,CORBA::Double_out az,CORB
 {	
 	double Az=0.0;
 	double El=0.0;
+	//workaround for strange behavior: this method seems so be called at startup before initialize() completes
+	//this result in a segmentation fault because m_boss is not initialized yet. Has it something to do with the
+	//CoordinateGrabber? it strangely uses the methods that are affected by this problem.
+	if (!m_boss) return;
 	TIMEVALUE requestTime(time);
-	CSecAreaResourceWrapper<CBossCore> resource=m_core->Get("IMPL:getRawcoordinate");
-	resource->getRawHorizontal(requestTime,Az,El);
+	m_boss->getRawHorizontal(requestTime,Az,El);
 	az=(CORBA::Double)Az;
 	el=(CORBA::Double)El;
 }
@@ -562,14 +565,10 @@ void AntennaBossImpl::getObservedEquatorial(ACS::Time time,ACS::TimeInterval dur
 {
 	double Ra=0.0;
 	double Dec=0.0;
-	//workaround for strange behavior: this method seems so be called at startup before initialize() completes
-	//this result in a segmentation fault because m_core is not created yet. Has it something to do with the
-	//CoordinateGrabber? it strangely uses the methods that are affected by this problem.
-	if (!m_core) return;  
+	if (!m_boss) return;
 	TIMEVALUE requestTime(time);
 	TIMEDIFFERENCE requestedDuration(duration);
-	CSecAreaResourceWrapper<CBossCore> resource=m_core->Get("IMPL:getObservedEquatorial");
-	resource->getObservedEquatorial(requestTime,requestedDuration,Ra,Dec);
+	m_boss->getObservedEquatorial(requestTime,requestedDuration,Ra,Dec);
 	ra=(CORBA::Double)Ra;
 	dec=(CORBA::Double)Dec;
 }
@@ -579,11 +578,10 @@ void AntennaBossImpl::getObservedGalactic(ACS::Time time,ACS::TimeInterval durat
 {
 	double Long=0.0;
 	double Lat=0.0;
-	if (!m_core) return;
+	if (!m_boss) return;
 	TIMEVALUE requestTime(time);
 	TIMEDIFFERENCE requestedDuration(duration);
-	CSecAreaResourceWrapper<CBossCore> resource=m_core->Get("IMPL:getObservedgalactic");
-	resource->getObservedGalactic(requestTime,requestedDuration,Long,Lat);
+	m_boss->getObservedGalactic(requestTime,requestedDuration,Long,Lat);
 	longitude=(CORBA::Double)Long;
 	latitude=(CORBA::Double)Lat;
 }
@@ -593,12 +591,10 @@ void AntennaBossImpl::getObservedHorizontal(ACS::Time time,ACS::TimeInterval dur
 {
 	double Az=0.0;
 	double El=0.0;
-	// see GetObservedEquatorial for a comment
-	if (!m_core) return;
+	if (!m_boss) return;
 	TIMEVALUE requestTime(time);
 	TIMEDIFFERENCE requestedDuration(duration);
-	CSecAreaResourceWrapper<CBossCore> resource=m_core->Get("IMPL:getObservedHorizontal");
-	resource->getObservedHorizontal(requestTime,requestedDuration,Az,El);
+	m_boss->getObservedHorizontal(requestTime,requestedDuration,Az,El);
 	az=(CORBA::Double)Az;
 	el=(CORBA::Double)El;
 }

Common/Servers/AntennaBoss/src/BossCore.cpp

@@ -1023,7 +1023,7 @@ bool CBossCore::updateAttributes() throw (ComponentErrors::CORBAProblemExImpl,Co
 		loadPointingModel(m_pointingModel); // throw ComponentErrors::CouldntGetComponentExImpl
 		// get Offset from refraction;
 		try {
-			m_refraction->getCorrection(DPI/2.0-el,m_waveLength,m_refractionOffset);
+			m_refraction->getCorrection(DPIBY2-el,m_waveLength,m_refractionOffset);
 		}
 		catch (AntennaErrors::AntennaErrorsEx& ex) {  
 			_ADD_BACKTRACE(ComponentErrors::CouldntCallOperationExImpl,impl,ex,"CBossCore::updateAttributes()");
@@ -1249,7 +1249,7 @@ void CBossCore::loadTrackingPoint(const TIMEVALUE& time,bool restart) throw (Com
 		refOff=0.0;
 		try {
 			if (el>0.0) {
-				m_refraction->getCorrection(DPI/2.0-el,m_waveLength,refOff);
+				m_refraction->getCorrection(DPIBY2-el,m_waveLength,refOff);
 			}
 		}
 		catch (AntennaErrors::AntennaErrorsEx& ex) {

Common/Servers/Refraction/src/RefractionCore.cpp

@@ -118,11 +118,9 @@ void CRefractionCore::cleanUp()
 void CRefractionCore::getCorrection(double obsZenithDistance,double waveLen, double &corZenithDistance)
 {
 	AUTO_TRACE("CRefractionCore::getCorrection()");
-	//double elevation;
+	double correction = 0.0;
 	baci::ThreadSyncGuard guardParametes(&m_parametersMutex);
-	//elevation = 90.0 - obsZenithDistance*DR2D;
-	//if (elevation >= 0.0 && elevation <= 90.0) {
-	if ((obsZenithDistance>=0.0) && (obsZenithDistance<=(DPI/2.0))) {
+	if (obsZenithDistance>=0.0 && obsZenithDistance<DPIBY2) {
 		double hm = m_site.getHeight(); // meters
 		double tdk = m_temperature + 273.0;
 		double wl = waveLen*1000000; //micro meters
@@ -130,9 +128,14 @@ void CRefractionCore::getCorrection(double obsZenithDistance,double waveLen, dou
 		double tlr = 0.0065;
 		double eps = 1e-8;
 
-		slaRefro(obsZenithDistance, hm, tdk, m_pressure, m_humidity, wl, phi, tlr, eps, &corZenithDistance);
+		slaRefro(obsZenithDistance, hm, tdk, m_pressure, m_humidity, wl, phi, tlr, eps, &correction);
+		correction = std::min(correction, 2.0e17);
+		if(correction < 1.0e-9) {
+			correction = 0.0;
 		}
-	else corZenithDistance = 0.0;
+	}
+
+	corZenithDistance = correction;
 }
 
 void CRefractionCore::getMeteoParameters()

Common/Servers/Sardara/include/CommandLine.h

@@ -751,21 +751,34 @@ private:
 	inline void clearStatusField(TstatusFields field) { m_backendStatus &= ~(1 << field); }
 
     bool m_SK77;
+    bool m_SK00;
+    bool m_SK01;
+    bool m_SK02;
     bool m_SK03;
+    bool m_SK04;
+    bool m_SK05;
     bool m_SK06;
-    bool m_SK00;
     bool m_SC00;
     bool m_SL00;
     bool m_SP00;
     bool m_SK77S;
+    bool m_SK00S;
+    bool m_SK01S;
+    bool m_SK02S;
     bool m_SK03S;
+    bool m_SK04S;
+    bool m_SK05S;
     bool m_SK06S;
-    bool m_SK00S;
     bool m_SC00S;
     bool m_SL00S;
     bool m_SP00S;
+    bool m_SCC00;
+    bool m_SCH00;
+    bool m_SCC00S;
+    bool m_SCH00S;
 
     bool m_stationSRT;
+    bool m_stationMED;
 	
 };
 

Common/Simulators/Components/PyPositioner/config/CDB/schemas/Positioner.xsd

+<?xml version="1.0" encoding="ISO-8859-1"?>
+<!-- Marco Buttu, marco.buttu@inaf.it -->
+
+<xs:schema
+    targetNamespace="urn:schemas-cosylab-com:Positioner:1.0"
+    xmlns:xs="http://www.w3.org/2001/XMLSchema"
+    xmlns="urn:schemas-cosylab-com:Positioner:1.0"
+    xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"
+    xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"
+    elementFormDefault="qualified"
+    attributeFormDefault="unqualified">
+
+    <xs:import namespace="urn:schemas-cosylab-com:CDB:1.0" schemaLocation="CDB.xsd" />
+    <xs:import namespace="urn:schemas-cosylab-com:BACI:1.0" schemaLocation="BACI.xsd" />
+
+    <xs:complexType name="PositionerType">
+      <xs:complexContent>
+        <xs:extension base="baci:CharacteristicComponent">
+
+          <xs:sequence>
+            <xs:element name="status" type="baci:ROpattern" />
+            <xs:element name="position" type="baci:ROdouble" />
+            <xs:element name="current" type="baci:ROdouble" />
+            <xs:element name="seq" type="baci:ROdoubleSeq" />
+          </xs:sequence>
+
+        </xs:extension>
+      </xs:complexContent>
+    </xs:complexType>
+
+    <xs:element name="Positioner" type="PositionerType"/>
+
+</xs:schema>

Common/Simulators/Components/PyPositioner/idl/TestNamespaceInterface.idl

+/*************************************************\
+ *  Author: Marco Buttu <marco.buttu@inaf.it>
+\*************************************************/
+
+#ifndef __TESTNAMESPACE_INTERFACE__IDL__ 
+#define __TESTNAMESPACE_INTERFACE__IDL__ 
+
+#include <baci.idl>
+
+#pragma prefix "alma"
+
+
+module TestNamespaceInterface {
+
+    struct PositionerDataBlock {
+        boolean ready;
+    }; 
+ 
+    const string POSITIONER_DATA_CHANNEL = "PositionerData";
+
+
+    interface Positioner: ACS::CharacteristicComponent
+    {
+   
+        /** Set the position */
+        void setPosition(in double position);
+
+
+        /** Return the actual position */
+        double getPosition();
+
+
+        /** Set a dummy sequence */
+        void setSequence(in ACS::doubleSeq seq);
+
+
+        /** Return a dummy sequence */
+        ACS::doubleSeq getSequence();
+
+
+        /** This property reports the status (4 bits pattern) of the Positioner. */
+        readonly attribute ACS::ROpattern status;
+
+        /** This property reports the position of the Positioner. */
+        readonly attribute ACS::ROdouble position;
+
+        /** This property reports the current of the Positioner engine. */
+        readonly attribute ACS::ROdouble current;
+
+        /** A dummy sequence */
+        readonly attribute ACS::ROdoubleSeq seq;
+
+    };
+};
+
+#endif

Common/Simulators/Components/PyPositioner/src/Makefile

+#*****************************************************************
+# Positioner Makefile
+# ===================
+# A Component to be used for testing purpose
+# Marco Buttu <marco.buttu@inaf.it>
+#*****************************************************************
+
+
+# Interface
+# ----------------------------
+CDB_SCHEMAS = Positioner
+IDL_FILES = TestNamespaceInterface
+TestNamespaceInterfaceStubs_LIBS = baciStubs acscomponentStubs
+
+
+# Python directives
+PY_PACKAGES = Positioner
+
+# Documentation
+MAKE_PDF = ON
+
+
+# List of all possible C-sources (used to create automatic dependencies)
+CSOURCENAMES = \
+	$(foreach exe, $(EXECUTABLES) $(EXECUTABLES_L), $($(exe)_OBJECTS)) \
+	$(foreach rtos, $(RTAI_MODULES) , $($(rtos)_OBJECTS)) \
+	$(foreach lib, $(LIBRARIES) $(LIBRARIES_L), $($(lib)_OBJECTS))
+
+
+TMP := $(shell searchFile /tmp/tmp.txt)
+ifeq ($(TMP),\#error\#)
+PERM:=$(shell stat --format=%a $(ERRXMLFILE))
+else 
+PERM=$(shell cat /tmp/tmp.txt) 
+endif
+
+
+# Include standards
+MAKEDIRTMP := $(shell searchFile include/acsMakefile)
+ifneq ($(MAKEDIRTMP),\#error\#)
+   MAKEDIR := $(MAKEDIRTMP)/include
+   include $(MAKEDIR)/acsMakefile
+endif
+
+
+# TARGETS
+all:	do_all
+	@echo " . . . 'all' done" 
+
+clean : clean_all 
+	# Clear INTROOT interface
+	$(RM) $(INTROOT)/lib/python/site-packages/TestNamespace*
+	# Clear INTROOT Impl
+	$(RM) $(INTROOT)/lib/python/site-packages/Positioner*
+	$(RM) $(INTROOT)/lib/python/site-packages/libPositionerStubs.*
+	# Clear local lib
+	$(RM) *~ *Impl/*~ Positioner/*.pyc
+	$(RM) ../bin/
+	$(RM) ../include/
+	$(RM) ../lib/
+	$(RM) ../object/
+	$(RM) ../rtai/
+	@echo " . . . clean done"
+
+clean_dist : clean_all clean_dist_all 
+	@echo " . . . clean_dist done"
+
+man   : do_man 
+	@echo " . . . man page(s) done"
+
+install : install_all
+	@rm -rf /tmp/tmp.txt
+	@echo " . . . installation done"
+	@echo " . . . installation done"

Common/Simulators/Components/PyPositioner/src/Positioner/PositionerImpl.py

+from __future__ import print_function
+import time
+
+from Acspy.Servants.CharacteristicComponent import CharacteristicComponent as cc
+from Acspy.Servants.ContainerServices import ContainerServices as services
+from Acspy.Servants.ComponentLifecycle import ComponentLifecycle as lcycle
+from Acspy.Util.BaciHelper import addProperty
+from Acspy.Common.Log import getLogger
+
+from TestNamespaceInterface__POA import Positioner as POA
+
+
+from Positioner.devios import GenericDevIO, PositionDevIO, SequenceDevIO
+
+__copyright__ = "Marco Buttu <marco.buttu@inaf.it>"
+
+
+logger = getLogger()
+
+class PositionerImpl(POA, cc, services, lcycle):
+ 
+    def __init__(self):
+        cc.__init__(self)
+        services.__init__(self)
+        self.position = 0
+        self.sequence = [1.1, 2.2, 3.3]
+
+    def initialize(self):
+        addProperty(self, 'status', devio_ref=GenericDevIO())
+        addProperty(self, 'position', devio_ref=PositionDevIO(self))
+        addProperty(self, 'current', devio_ref=GenericDevIO())
+        addProperty(self, 'seq', devio_ref=SequenceDevIO(self))
+        print('Component initialized')
+
+    def setPosition(self, position):
+        print('Setting the position to ', position)
+        self.position = position
+
+    def getPosition(self):
+        return self.position
+
+    def setSequence(self, sequence):
+        self.sequence = sequence
+
+    def getSequence(self):
+        return self.sequence

Common/Simulators/Components/PyPositioner/src/Positioner/devios.py

+from ACSImpl.DevIO import DevIO
+
+class GenericDevIO(DevIO):
+    def __init__(self, value=0):
+        DevIO.__init__(self, value)
+
+    def read(self):
+        return self.value
+
+    def write(self, value):
+        self.value = value
+
+
+class PositionDevIO(DevIO):
+    def __init__(self, device):
+        self.device = device
+        DevIO.__init__(self, device.getPosition())
+
+    def read(self):
+        return self.device.getPosition()
+
+class SequenceDevIO(DevIO):
+    def __init__(self, device):
+        self.device = device
+        DevIO.__init__(self, self.read())
+
+    def read(self):
+        return self.device.getSequence()

Medicina/Configuration/CDB/alma/BACKENDS/Sardara/Sardara.xml

@@ -13,7 +13,7 @@
                CommandLineTimeout="10000000"
                ConnectTimeout="3000000"
                PropertyRefreshTime="1000000"
-               Configuration="SC00"
+               Configuration="SCC00"
                TimeTollerance="250000"
                RepetitionCacheTime="2000000"
                RepetitionExpireTime="5000000"

Medicina/Configuration/CDB/alma/DataBlock/Sardara/Sardara.xml

@@ -21,7 +21,7 @@
 </Configuration>
 
 <Configuration>
-	<configurationID>SK03</configurationID>
+	<configurationID>SK01</configurationID>
 	<sections>4</sections>
 	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
 	<inputPort>GREGORIAN</inputPort>
@@ -30,43 +30,28 @@
  	<attenuation>7.0</attenuation>		
 	<section_boards>0 1 2 3</section_boards>
 	<polarizations>L R L R</polarizations>
-	<feed>0 0 3 3</feed>
+	<feed>0 0 1 1</feed>
 	<IF>0 1 0 1</IF>
 	<bins>1024</bins>
 </Configuration>
 
 <Configuration>
-	<configurationID>SK06</configurationID>
-	<sections>4</sections>
-	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
-	<inputPort>GREGORIAN</inputPort>
-	<beams>2</beams>
- 	<bandWidth>1500.0</bandWidth>
- 	<attenuation>7.0</attenuation>		
-	<section_boards>0 1 2 3</section_boards>
-	<polarizations>L R L R</polarizations>
-	<feed>0 0 6 6</feed>
-	<IF>0 1 0 1</IF>
-	<bins>1024</bins>
-</Configuration>
-
-<Configuration>
-	<configurationID>SK77</configurationID>
-	<sections>14</sections>
+	<configurationID>SCC00</configurationID>
+ 	<sections>2</sections>
  	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
-	<inputPort>GREGORIAN</inputPort>
-	<beams>7</beams>
+ 	<inputPort>BWG</inputPort>
+ 	<beams>1</beams>
  	<bandWidth>1500.0</bandWidth>
- 	<attenuation>7.0</attenuation>		
-	<section_boards>0 1 2 3 4 5 6 7 8 9 10 11 12 13</section_boards>
-	<polarizations>L R L R L R L R L R L R L R</polarizations>
-	<feed>0 0 1 1 2 2 3 3 4 4 5 5 6 6</feed>
-	<IF>0 1 0 1 0 1 0 1 0 1 0 1 0 1</IF>
+ 	<attenuation>9.0</attenuation>	 	
+ 	<section_boards>0 1</section_boards>
+ 	<polarizations>L R</polarizations>
+ 	<feed>0 0</feed>
+ 	<IF>0 1</IF>
 	<bins>1024</bins>
 </Configuration>
 
 <Configuration>
-	<configurationID>SC00</configurationID>
+	<configurationID>SCH00</configurationID>
  	<sections>2</sections>
  	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
  	<inputPort>BWG</inputPort>
@@ -126,7 +111,7 @@
 </Configuration>
 
 <Configuration>
-	<configurationID>SK03S</configurationID>
+	<configurationID>SK01S</configurationID>
 	<sections>4</sections>
 	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
 	<inputPort>GREGORIAN</inputPort>
@@ -135,43 +120,28 @@
  	<attenuation>7.0</attenuation>		
 	<section_boards>0 1 2 3</section_boards>
 	<polarizations>S S S S</polarizations>
-	<feed>0 0 3 3</feed>
+	<feed>0 0 1 1</feed>
 	<IF>0 1 0 1</IF>
 	<bins>1024</bins>
 </Configuration>
 
 <Configuration>
-	<configurationID>SK06S</configurationID>
-	<sections>4</sections>
-	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
-	<inputPort>GREGORIAN</inputPort>
-	<beams>2</beams>
- 	<bandWidth>1500.0</bandWidth>
- 	<attenuation>7.0</attenuation>		
-	<section_boards>0 1 2 3</section_boards>
-	<polarizations>S S S S</polarizations>
-	<feed>0 0 6 6</feed>
-	<IF>0 1 0 1</IF>
-	<bins>1024</bins>
-</Configuration>
-
-<Configuration>
-	<configurationID>SK77S</configurationID>
-	<sections>14</sections>
+	<configurationID>SCC00S</configurationID>
+ 	<sections>2</sections>
  	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
-	<inputPort>GREGORIAN</inputPort>
-	<beams>7</beams>
+ 	<inputPort>BWG</inputPort>
+ 	<beams>1</beams>
  	<bandWidth>1500.0</bandWidth>
- 	<attenuation>7.0</attenuation>		
-	<section_boards>0 1 2 3 4 5 6 7 8 9 10 11 12 13</section_boards>
-	<polarizations>S S S S S S S S S S S S S S</polarizations>
-	<feed>0 0 1 1 2 2 3 3 4 4 5 5 6 6</feed>
-	<IF>0 1 0 1 0 1 0 1 0 1 0 1 0 1</IF>
+ 	<attenuation>9.0</attenuation>	 	
+ 	<section_boards>0 1</section_boards>
+ 	<polarizations>S S</polarizations>
+ 	<feed>0 0</feed>
+ 	<IF>0 1</IF>
 	<bins>1024</bins>
 </Configuration>
 
 <Configuration>
-	<configurationID>SC00S</configurationID>
+	<configurationID>SCH00S</configurationID>
  	<sections>2</sections>
  	<calSwitchingEnabled>TRUE</calSwitchingEnabled>
  	<inputPort>BWG</inputPort>

SRT/CDB/MACI/Channels/PositionerData/PositionerData.xml

+<?xml version="1.0" encoding="ISO-8859-1"?>
+<EventChannel xmlns="urn:schemas-cosylab-com:EventChannel:1.0"
+xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+	IntegrationLogs="false"
+	MaxQueueLength="5"
+	MaxSuppliers="20"
+	RejectNewEvents="false"
+	DiscardPolicy="FifoOrder"
+	EventReliability="BestEffort"
+	ConnectionReliability="Persistent">
+   <Events>
+     <_ Name="PositionerDataBlock" MaxProcessTime="2.0"/>
+   </Events>
+</EventChannel>
+

SRT/CDB/MACI/Components/BACKENDS/PyCalmux/PyCalmux.xml

+<?xml version="1.0" encoding="utf-8"?>
+<!--
+     Giuseppe Carboni <giuseppe.carboni@inaf.it>
+-->
+
+<Component 
+    xmlns="urn:schemas-cosylab-com:Component: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"
+              
+    Name="PyCalmux"
+    Code="Calmux.PyCalmuxImpl"
+    Type="IDL:alma/Backends/CalMux:1.0"
+    Container="PyCalmuxContainer"
+    ImplLang="py"
+    KeepAliveTime="-1"
+    Default="false"
+/>

SRT/CDB/MACI/Components/TestNamespace/Positioner/Positioner.xml

+<?xml version="1.0" encoding="utf-8"?>
+<!-- Marco Buttu <mbuttu@oa-cagliari.inaf.it> -->
+
+<Component 
+    xmlns="urn:schemas-cosylab-com:Component: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"
+              
+    Name="Positioner"    
+    Code="Positioner.PositionerImpl"
+    Type="IDL:alma/TestNamespaceInterface/Positioner:1.0"
+    Container="PositionerContainer"
+    ImplLang="py"
+	Default="true"
+/>