Merge pull request #692 from discos/fix-issue-655

Fix issue 655

CHANGELOG.md

@@ -97,6 +97,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/
 
 ## [next release]
 ## Added
+    issue #655 - ACU Component for Noto and Medicina is now capble to prevent seldom mode changes coming from ACU reset
     issue #653 - added a couple of scriptsto ease vnc conection from remote a file copying. The scripts support 
                  linux and macos
 ## Fixed

Common/Servers/ExternalClients/src/ExternalClientsSocketServer.cpp

@@ -560,17 +560,24 @@ CExternalClientsSocketServer::cmdToScheduler ()
 	      printf("dentro ans==false\n");
 	    }*/
 	}
+	out.ReplaceAll('\n','-');
+	/*out.Replace('\n','-');
 	out.Replace('\n','-');
+	out.Replace('\n','-');
+	out.Replace('\n','-');*/
       Len = out.GetLength ();
       int i;
-      for (i = 0; i < Len; i++)
-	{
+      for (i = 0; i < Len; i++) {
+	//if (out.CharAt(i)=='\n')
+	  // break;	
 	outBuffer[i] = out.CharAt (i);
       }
       out.Empty();
       outBuffer[Len] = '\n';
+      //outBuffer[i] = '\n';
       //printf ("Command returned = %s", outBuffer);
       Res = sendBuffer (outBuffer, Len + 1);
+      //Res = sendBuffer (outBuffer, i + 1);
       if (Res == WOULDBLOCK || Res == FAIL)
 	{
 	  _EXCPT (SocketErrorExImpl, impl,

Common/Servers/PyCalmux/src/Calmux/PyCalmuxImpl.py

@@ -139,6 +139,8 @@ class PyCalmuxImpl(CalMux, cc, services, lcycle):
         """
         s.sendall(command)
 
+#        time.sleep(0.1)
+
         response = s.recv(1024)
         response = response.strip().split()
         if len(response) == 1:

Medicina/CDB/alma/ANTENNA/Mount/Mount.xml

@@ -15,6 +15,7 @@
                ControlThreadPeriod="200000"
                RepetitionCacheTime="2000000"
                RepetitionExpireTime="5000000"
+               CheckMode="false"
                CheckOscillation="true"
 			   OscillationThreshold="0.01"
 			   OscillationAlarmDuration="2000000"	

Medicina/Configuration/CDB/alma/ANTENNA/Mount/Mount.xml

@@ -15,6 +15,7 @@
                ControlThreadPeriod="200000"
                RepetitionCacheTime="2000000"
                RepetitionExpireTime="5000000"
+               CheckMode="false"
                CheckOscillation="true"
 			   OscillationThreshold="0.01"
 			   OscillationAlarmDuration="2000000"	

Medicina/Servers/MedicinaMinorServo/src/MedMinorServoGeometry.cpp

@@ -325,11 +325,15 @@ double
 MedMinorServoGeometry::_check_axis_limit(const double position,
                                          const MedMinorServoAxis axis)
 {
-    if(position < axis.position_min){
+	int iposition = (int)position;
+
+
+    if(iposition < axis.position_min){
         throw MinorServoAxisLimitError("axis too low");
         //return axis.position_min;
     }
-    if(position > axis.position_max){
+    if(iposition > axis.position_max){
+	     std::cout<<axis.name<<" "<<iposition<<" " <<axis.position_max<< std::endl;
         throw MinorServoAxisLimitError("axis too high ");
         //return axis.position_max;
     }

Medicina/Servers/MedicinaMount/config/CDB/schemas/MedicinaMount.xsd

@@ -101,6 +101,8 @@
 		<xs:attribute name="RepetitionCacheTime" type="xs:unsignedLong" use="required" />
 		<!-- the expire time (microseconds) for logging repetition filter -->
 		<xs:attribute name="RepetitionExpireTime" type="xs:unsignedLong" use="required" />
+		<!-- This flag is "true" or "false" to enable the check of the ACU mode -->
+      <xs:attribute name="CheckMode" type="xs:boolean" use="required" />			
 		<!-- This flag is "true" or "false" to control the oscillattion check is active or not -->
       <xs:attribute name="CheckOscillation" type="xs:boolean" use="required" />	
 		<!-- the oscillation threshold as azimuth tracking error (degrees) -->

Medicina/Servers/MedicinaMount/include/ACUData.h

@@ -83,6 +83,9 @@ public:
 	/** Returns the section which the antenna is located in, at present */
 	CACUInterface::TAntennaSection getSection() const;
 	
+	/** Return true if the driver power is on */
+	bool getDrivePower() const;
+	
 	/**Returns the number of free stack slots reserved for time tagged program track positions */
 	WORD getFreeStackPositions() const;
 	

Medicina/Servers/MedicinaMount/include/ACUInterface.h

@@ -186,10 +186,15 @@ public:
 	static TAxeModes getMode(BYTE mode);
 	
 	/**
-	 * This function returns the antenna presnt section given the control word
+	 * This function returns the antenna present section given the control word
 	*/
 	static TAntennaSection getSection(WORD controlWord);
 
+	/**
+	 * This function returns true i drive power is on, false otherwise
+	*/	
+	static bool getDrivePower(WORD controlWord);
+			
 };
 
 #endif

Medicina/Servers/MedicinaMount/include/Configuration.h

@@ -99,9 +99,12 @@ public:
 	/** Gets the number of times the oscillation has to be hit before an oscillation is declared*/
 	inline DWORD oscillationNumberThreashold() const { return m_dwoscNumberThreshold; }
 	
-	/** Flag that indicates whether the oscillation chek must performed or not. */
+	/** Flag that indicates whether the oscillation check must performed or not. */
 	inline bool checkForOscillation() const { return m_checkOsc; }
 	
+	/** Flag that indicates whether the ACU check mode must performed or not. */
+	inline bool checkForMode() const { return m_checkMode; }
+	
 	/**
     * This member function is used to configure component by reading the configuration parameter from the CDB.
 	 * This must be the first call before using any other function of this class.
@@ -139,9 +142,9 @@ private:
 	DWORD m_dwcontrolThreadPeriod;
 	/** This is the precision (degree) of the antenna */
 	//double m_dtrackingPrecision; 
-	/** This indicates the cache time for the repetion log filter */
+	/** This indicates the cache time for the repetition log filter */
 	DDWORD m_dwrepetitionCacheTime;
-	/** This indicates the expire time for the repetion log filter */
+	/** This indicates the expire time for the repetition log filter */
 	DDWORD m_dwexpireCacheTime;
 	/** this number is the separation value between the CW and CCW, if the azimuth is greater than this the section is CW */
 	double m_cwLimit;
@@ -151,6 +154,7 @@ private:
 	WORD m_dwoscNumberThreshold;
 	DDWORD m_dwoscRecoverTime;
 	bool m_checkOsc;
+	bool m_checkMode;
 };
 
 

Medicina/Servers/MedicinaMount/include/MedicinaMountSocket.h

@@ -447,10 +447,33 @@ public:
 	 * 1) if the tracking error is beyond a threashold an alarm condition is triggered.  This condition has a certain validity time.
 	 * 2) If more than a number of direction changes (of the tracking error with respect to the zero error) are detected during the alarm time window, the oscillation is declared-
 	 * 3) The alarm condition is cleared if the time validity window of the alarm elapsed and the tracking error is again under the threshold.
-	 * In case of detection counter mesures are immediately taken.
+	 * In case of detection counter measures are immediately taken.
 	 */
 	void detectOscillation() throw (AntennaErrors::ConnectionExImpl,ComponentErrors::SocketErrorExImpl,ComponentErrors::TimeoutExImpl,AntennaErrors::NakExImpl,AntennaErrors::AntennaBusyExImpl);
 
+	/**
+	 * This method has been added to detect the event the ACU mode differs from previously commanded. In case it tries to
+	 * recover from this event by commanding the correct mode.
+	 * @throw AntennaErrors::ConnectionExImpl
+	 * @throw ComponentErrors::SocketErrorExImpl
+	 * @throw ComponentErrors::TimeoutExImpl
+	 * @throw AntennaErrors::NakExImpl
+	 * @throw AntennaErrors::AntennaBusyExImpl
+	*/
+	void checkCommandedMode() throw (AntennaErrors::ConnectionExImpl,ComponentErrors::SocketErrorExImpl,
+	  ComponentErrors::TimeoutExImpl,AntennaErrors::NakExImpl,AntennaErrors::AntennaBusyExImpl);
+
+	/**
+	 * This method has been added to detect a power failure in the servo system. In case it tries to
+	 * recover from this event by reseting the servo.
+	 * @throw AntennaErrors::ConnectionExImpl
+	 * @throw ComponentErrors::SocketErrorExImpl
+	 * @throw ComponentErrors::TimeoutExImpl
+	 * @throw AntennaErrors::NakExImpl
+	*/
+	void checkPowerFailure() throw (ComponentErrors::TimeoutExImpl,AntennaErrors::NakExImpl,
+	  AntennaErrors::ConnectionExImpl,ComponentErrors::SocketErrorExImpl);
+
 	/** 
 	 * This member function is used by the control thread in order to check if a long job that was started as completed or not.
 	 * @param job job identifier
@@ -607,6 +630,16 @@ private:
 	 */
 	CACUInterface::TAxeModes m_oscMode;
 	
+	/**
+	 * this flag indicates that a recovery from mode check in ongoing.....
+	 */	
+	bool m_modeCheckRecover;
+
+	/**
+	 * this flag indicates that a power failure has been detected
+	 */		
+	bool m_powerFailDetected;
+	
 	/**
 	 * Stores the epoch of the last scan. Used in oscillation prevention
 	 */

Medicina/Servers/MedicinaMount/src/ACUData.cpp

@@ -115,6 +115,14 @@ CACUInterface::TAntennaSection CACUData::getSection() const
 	return CACUInterface::getSection(Value);	
 }
 
+bool CACUData::getDrivePower() const
+{
+	WORD val;
+	memcpy(&val,(m_MonitorData+36),2);
+	return CACUInterface::getDrivePower(val);
+}
+
+	
 WORD CACUData::getFreeStackPositions() const
 {
 	WORD Value;

Medicina/Servers/MedicinaMount/src/ACUInterface.cpp

@@ -247,3 +247,9 @@ CACUInterface::TAntennaSection CACUInterface::getSection(WORD controlWord)
 	else return CACUInterface::CCW;
 }
 
+bool CACUInterface::getDrivePower(WORD controlWord)
+{
+	if (controlWord & (1 << 15)) return false;
+	else return true;
+}
+

Medicina/Servers/MedicinaMount/src/Configuration.cpp

@@ -66,6 +66,13 @@ void CConfiguration::Init(maci::ContainerServices *Services) throw (ComponentErr
 	_GET_DOUBLE_ATTRIBUTE("cw_ccw_limit","CW/CCW limit (degrees):",m_cwLimit,"DataBlock/Mount");
 	
 	_GET_STRING_ATTRIBUTE("CheckOscillation","Check oscillation during tracking: ",check,"");
+	check.MakeUpper();
+	m_checkOsc=(check=="TRUE");
+	
+	_GET_STRING_ATTRIBUTE("CheckMode","Check ACU mode enabled: ",check,"");
+	check.MakeUpper();
+	m_checkMode=(check=="TRUE");
+	
 	_GET_DOUBLE_ATTRIBUTE("OscillationThreshold","Oscillation theshold (deg):",m_doscThreashold,"");
 	_GET_DWORD_ATTRIBUTE("OscillationAlarmDuration","Oscillation alarm duration (uSec):",m_dwoscAlarmDuration,"");
 	_GET_DWORD_ATTRIBUTE("OscillationNumberThreshold","Oscillation number threashold:",m_dwoscNumberThreshold,"");
@@ -74,5 +81,5 @@ void CConfiguration::Init(maci::ContainerServices *Services) throw (ComponentErr
 	m_dwoscRecoverTime*=10;
 	m_dwcontrolThreadPeriod*=10;
 	check.MakeUpper();
-	m_checkOsc=(check=="TRUE");
+	
 }

Medicina/Servers/MedicinaMount/src/MedicinaMountSocket.cpp

@@ -130,6 +130,8 @@ void CMedicinaMountSocket::Init(CConfiguration *config,maci::ContainerServices *
 	m_oscStopTime=0;
 	m_oscMode=CACUInterface::STANDBY;
 	m_lastScanEpoch=0;
+	m_modeCheckRecover=false;
+	m_powerFailDetected=false;
 }
 
 CACUInterface::TAxeModes CMedicinaMountSocket::getAzimuthMode() throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl)
@@ -587,8 +589,11 @@ void CMedicinaMountSocket::Mode(CACUInterface::TAxeModes azMode,CACUInterface::T
 	TIMEVALUE now;
 	IRA::CIRATools::getTime(now);
 	m_Data.setLastCommandedMode(azMode); 
+	if (!m_modeCheckRecover) { // need to keep current offsets in case a recovery procedure is ongoing.....
 		m_Data.setAzimuthOffset(0.0);
 		m_Data.setElevationOffset(0.0);
+		m_modeCheckRecover=false;
+	}
 	m_lastScanEpoch=now.value().value;
 }
 
@@ -844,6 +849,50 @@ double CMedicinaMountSocket::getHWAzimuth(double destination,const CACUInterface
 	return CIRATools::getHWAzimuth(pos,dest,m_configuration->azimuthLowerLimit(),m_configuration->azimuthUpperLimit(),section,m_configuration->cwLimit());
 }
 
+void CMedicinaMountSocket::checkPowerFailure() throw (ComponentErrors::TimeoutExImpl,AntennaErrors::NakExImpl,
+	  AntennaErrors::ConnectionExImpl,ComponentErrors::SocketErrorExImpl)
+{
+	//_IRA_LOGDIKE_COMPLETION(m_logDike,__dummy,LM_DEBUG);
+	if (!m_configuration->checkForMode()) return;
+	if (m_Data.getDrivePower()) {  //in case of a power outage of failure.....
+		if (!m_powerFailDetected) { //first detection
+			CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",(LM_CRITICAL,
+			  "Servo system power failure detected"));
+		}
+		m_powerFailDetected=true;	
+	}
+	else {  // no power error
+		if (m_powerFailDetected) { //first detection
+		   CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",(LM_NOTICE,
+			  "Trying a servo system reset"));
+ 			failureReset();// throw (TimeoutExImpl,AntennaErrors::NakExImpl,ConnectionExImpl,SocketErrorExImpl)  
+			m_powerFailDetected=false;	
+			CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkPowerFailure()",(LM_CRITICAL,
+			  "Servo system power failure cleared"));				
+		}	
+	}
+}
+
+void CMedicinaMountSocket::checkCommandedMode() throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl,AntennaErrors::NakExImpl,AntennaBusyExImpl)
+{
+	CACUInterface::TAxeModes commandedMode, mode;
+	if (!m_configuration->checkForMode()) return;
+	if (m_powerFailDetected) return; // no need to try to recover from mode discrepancy if the cause is a power failure
+	commandedMode=m_Data.getLastCommandedMode();
+	if ((commandedMode!=CACUInterface::STANDBY)  && (commandedMode!=CACUInterface::UNSTOW) &&
+	  (commandedMode!=CACUInterface::STOW) && (commandedMode!=CACUInterface::STOP)) {
+	  	mode=getAzimuthMode(); // throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl)
+	  	if ((mode!=CACUInterface::UNKNOWN)) {
+	  		if ((commandedMode!=mode)) {
+	  			CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkCommandedMode()",
+	  			  (LM_WARNING,"ACU operation mode differs from commanded one, trying to recover..."));
+	  			m_modeCheckRecover=true;
+	  			Mode(commandedMode,commandedMode);
+	  		}
+	  	}
+	}
+}
+
 void CMedicinaMountSocket::detectOscillation() throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl,AntennaErrors::NakExImpl,AntennaBusyExImpl)
 {
 	TIMEVALUE now;

Medicina/Servers/MedicinaMount/src/MedicinaMountThread.cpp

@@ -51,6 +51,8 @@ void CMedicinaMountControlThread::runLoop()
 	CSecAreaResourceWrapper<CMedicinaMountSocket> socket=m_pACUControl->Get();
 	socket->updateComponent();  // before commenting out or deleting consider that inside this method the flushing of pending event of the log dike object is called
 	socket->detectOscillation();
+	socket->checkPowerFailure();
+	socket->checkCommandedMode();
 	if (currentJobID!=0) {
 		ACSErr::Completion_var comp;
 		if (socket->updateLongJobs(currentJobID,comp.out())) {

Noto/CDB/alma/ANTENNA/Mount/Mount.xml

@@ -15,6 +15,7 @@
                ControlThreadPeriod="200000"
                RepetitionCacheTime="2000000"
                RepetitionExpireTime="5000000"
+               CheckMode="true"
                CheckOscillation="true"
 			   OscillationThreshold="0.01"
 			   OscillationAlarmDuration="2000000"	

Noto/CDB/alma/Procedures/StationProcedures/StationProcedures.xml

@@ -15,8 +15,10 @@
 	calOff
 	setAttenuation=0,15
 	setAttenuation=1,5
-	ifdist=1,1,44
-	ifdist=2,1,32
+    ifdist=1,1,-1
+    ifdist=2,1,-1
+    ifdist=1,-1,16
+	ifdist=2,-1,32
 </body>	
 </Procedure>
 
@@ -32,8 +34,10 @@
 	calOff
 	setAttenuation=0,0
 	setAttenuation=1,4
-	ifdist=1,1,44
-	ifdist=2,1,32
+	ifdist=1,1,-1
+    ifdist=2,1,-1
+    ifdist=1,-1,44
+	ifdist=2,-1,32
 </body>
 </Procedure>
 
@@ -47,8 +51,10 @@
 	device=0
 	calmux=TotalPower
 	calOff
-	ifdist=1,1,44
-	ifdist=2,1,32
+	ifdist=1,1,-1
+	ifdist=2,1,-1
+	ifdist=2,-1,34
+	ifdist=1,-1,36
 </body>
 </Procedure>
 
@@ -62,8 +68,10 @@
 	device=0
 	calmux=TotalPower
 	calOff
-	ifdist=1,1,44
-	ifdist=2,1,32
+	ifdist=1,1,-1
+    ifdist=2,1,-1
+    ifdist=1,-1,44
+	ifdist=2,-1,32
 </body>
 </Procedure>
 
@@ -77,8 +85,10 @@
 	device=0
 	calmux=TotalPower
     calOff
-	ifdist=1,3,44
-	ifdist=2,3,32
+    ifdist=1,3,-1
+    ifdist=2,3,-1
+	ifdist=1,-1,10
+	ifdist=2,-1,10
 </body>
 </Procedure>
 
@@ -92,8 +102,10 @@
 	device=0
 	calmux=TotalPower
     calOff
-	ifdist=1,4,44
-	ifdist=2,3,32
+    ifdist=1,5,-1
+    ifdist=2,3,-1
+	ifdist=1,-1,8
+	ifdist=2,-1,10
 </body>
 </Procedure>
 
@@ -107,8 +119,10 @@
 	device=0
 	calmux=TotalPower
     calOff
-	ifdist=1,2,22
-	ifdist=2,2,22
+    ifdist=1,2,-1
+    ifdist=2,2,-1
+	ifdist=1,-1,44
+	ifdist=2,-1,44
 </body>
 </Procedure>
 
@@ -122,8 +136,10 @@
 	device=0
 	calmux=TotalPower
     calOff
-	ifdist=1,4,44
-	ifdist=2,4,32
+    ifdist=1,4,-1
+    ifdist=2,4,-1
+	ifdist=1,-1,8
+	ifdist=2,-1,8
 </body>
 </Procedure>
 
@@ -137,8 +153,10 @@
 	device=0
 	calmux=TotalPower
     calOff
-	ifdist=1,3,44
-	ifdist=2,5,32
+    ifdist=1,5,-1
+    ifdist=2,3,-1
+	ifdist=1,-1,8
+	ifdist=2,-1,10
 </body>
 </Procedure>
 

Noto/Configuration/CDB/alma/ANTENNA/Mount/Mount.xml

@@ -15,6 +15,7 @@
                ControlThreadPeriod="200000"
                RepetitionCacheTime="2000000"
                RepetitionExpireTime="5000000"
+               CheckMode="true"
                CheckOscillation="true"
 			   OscillationThreshold="0.01"
 			   OscillationAlarmDuration="2000000"	

Noto/Configuration/CDB/alma/DataBlock/MMC/NormalModeSetup/NormalModeSetup.xml

@@ -18,7 +18,7 @@
 	Feeds="1"
 	IFs="2"
 	Polarization="L R"
-	DefaultLO="6956.0 6956.0"
+	DefaultLO="6936.0 6936.0"
 	LOMultiplier="1 1"
 	FixedLO2="0.0 0.0"
 	LOMin="5000.0 5000.0"