From 989660728f580a08c01edeb570ae63727693e976 Mon Sep 17 00:00:00 2001
From: Giuseppe Carboni <giuseppecarboni89@live.com>
Date: Fri, 4 Apr 2025 17:10:38 +0200
Subject: [PATCH] Fix #922, SRT MS configurations are not hardcoded anymore
(#923)
This branch contains also some other fixes for the SRT minor servos
- Replaced the word 'LookupTables' with 'Polynomial' or 'Coefficients'.
- Reviewed some logging lines that erroneously appeared in the LoggingDisplay even though they were not supposed to.
---
.../Boss/Configurations/Configurations.xml | 27 ++++
.../GFR/Coefficients/Coefficients.xml | 29 ++++
.../GFR/LookupTables/LookupTables.xml | 32 -----
.../M3R/Coefficients/Coefficients.xml | 19 +++
.../M3R/LookupTables/LookupTables.xml | 18 ---
.../PFP/Coefficients/Coefficients.xml | 35 +++++
.../PFP/LookupTables/LookupTables.xml | 33 -----
.../SRP/Coefficients/Coefficients.xml | 99 ++++++++++++++
.../SRP/LookupTables/LookupTables.xml | 125 ------------------
.../Boss/Configurations/Configurations.xml | 28 ++++
.../GFR/Coefficients/Coefficients.xml | 31 +++++
.../GFR/LookupTables/LookupTables.xml | 34 -----
.../M3R/Coefficients/Coefficients.xml | 19 +++
.../M3R/LookupTables/LookupTables.xml | 18 ---
.../SRP/Coefficients/Coefficients.xml | 99 ++++++++++++++
.../SRP/LookupTables/LookupTables.xml | 125 ------------------
.../idl/SRTMinorServo.idl | 3 +-
.../include/SRTMinorServoContainers.h | 27 +---
.../PFP/Coefficients/Coefficients.xml | 35 +++++
.../PFP/LookupTables/LookupTables.xml | 33 -----
.../config/CDB/schemas/SRTMinorServoBoss.xsd | 14 ++
.../CDB/schemas/SRTMinorServoCoefficients.xsd | 33 +++++
.../CDB/schemas/SRTMinorServoLookupTable.xsd | 53 --------
.../include/SRTMinorServoBossCore.h | 10 ++
.../include/SRTMinorServoBossImpl.h | 4 +-
.../SRTMinorServo/include/SRTMinorServoImpl.h | 9 +-
SRT/Servers/SRTMinorServo/src/Makefile | 2 +-
.../src/SRTBaseMinorServoImpl.cpp | 67 +++++++---
.../src/SRTMinorServoBossCore.cpp | 61 +++++++--
.../src/SRTMinorServoParkThread.cpp | 6 +-
.../src/SRTMinorServoScanThread.cpp | 4 +-
.../src/SRTMinorServoSetupThread.cpp | 12 +-
.../src/SRTMinorServoTrackingThread.cpp | 6 +-
.../src/SRTProgramTrackMinorServoImpl.cpp | 4 +-
34 files changed, 603 insertions(+), 551 deletions(-)
create mode 100644 SRT/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml
create mode 100644 SRT/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml
delete mode 100644 SRT/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml
create mode 100644 SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
delete mode 100644 SRT/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml
create mode 100644 SRT/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml
delete mode 100644 SRT/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml
create mode 100644 SRT/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml
delete mode 100644 SRT/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml
create mode 100644 SRT/Configuration/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml
create mode 100644 SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml
delete mode 100644 SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml
create mode 100644 SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
delete mode 100644 SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml
create mode 100644 SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml
delete mode 100644 SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml
create mode 100644 SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml
delete mode 100644 SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml
create mode 100644 SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoCoefficients.xsd
delete mode 100644 SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoLookupTable.xsd
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml b/SRT/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml
new file mode 100644
index 000000000..5159bf12d
--- /dev/null
+++ b/SRT/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml
@@ -0,0 +1,27 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 02-04-25 Created
+-->
+
+<SRTMinorServoBossConfigurationsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoBoss: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">
+
+ <configuration> <DISCOS>LLP</DISCOS> <LDO>Primario</LDO> </configuration>
+ <configuration> <DISCOS>PPP</DISCOS> <LDO>Primario</LDO> </configuration>
+ <configuration> <DISCOS>PLP</DISCOS> <LDO>Primario</LDO> </configuration>
+ <configuration> <DISCOS>HHP</DISCOS> <LDO>Primario</LDO> </configuration>
+ <configuration> <DISCOS>XKP</DISCOS> <LDO>Primario</LDO> </configuration>
+ <configuration> <DISCOS>CCG</DISCOS> <LDO>Gregoriano1</LDO> </configuration>
+ <configuration> <DISCOS>KKG</DISCOS> <LDO>Gregoriano2</LDO> </configuration>
+ <configuration> <DISCOS>WWG</DISCOS> <LDO>Gregoriano3</LDO> </configuration>
+ <configuration> <DISCOS>QQG</DISCOS> <LDO>Gregoriano4</LDO> </configuration>
+ <configuration> <DISCOS>CTR</DISCOS> <LDO>Gregoriano5</LDO> </configuration>
+ <configuration> <DISCOS>MISTRAL</DISCOS> <LDO>Gregoriano6</LDO> </configuration>
+ <configuration> <DISCOS>CCB</DISCOS> <LDO>BWG1</LDO> </configuration>
+ <configuration> <DISCOS>XB</DISCOS> <LDO>BWG3</LDO> </configuration>
+
+</SRTMinorServoBossConfigurationsTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml b/SRT/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..d48dd3cd6
--- /dev/null
+++ b/SRT/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml
@@ -0,0 +1,29 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>CCG</n> <a>ROTATION</a><p>-88.70659 </p></configuration>
+
+ <configuration><n>KKG</n> <a>ROTATION</a><p>-159.8899 </p></configuration>
+
+ <configuration><n>WWG</n> <a>ROTATION</a><p>90.971610 </p></configuration>
+
+ <configuration><n>QQG</n> <a>ROTATION</a><p>162.771 </p></configuration>
+
+ <configuration><n>CTR</n> <a>ROTATION</a><p>55.373967 </p></configuration>
+
+ <configuration><n>MISTRAL</n> <a>ROTATION</a><p>-51.821170 </p></configuration>
+
+ <!-- BWG configurations are not necessary since the SETUP command takes care of positioning the GFR to 0 -->
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml b/SRT/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml
deleted file mode 100644
index 9481f7890..000000000
--- a/SRT/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <CCG> <axis>ROTATION</axis> <coefficients>-88.70659 </coefficients></CCG>
- <CCG_ASACTIVE> <axis>ROTATION</axis> <coefficients>-88.70659 </coefficients></CCG_ASACTIVE>
- <KKG> <axis>ROTATION</axis> <coefficients>-159.8899 </coefficients></KKG>
- <KKG_ASACTIVE> <axis>ROTATION</axis> <coefficients>-159.8899 </coefficients></KKG_ASACTIVE>
- <WWG> <axis>ROTATION</axis> <coefficients>90.971610 </coefficients></WWG>
- <WWG_ASACTIVE> <axis>ROTATION</axis> <coefficients>90.971610 </coefficients></WWG_ASACTIVE>
- <QQG> <axis>ROTATION</axis> <coefficients>162.771 </coefficients></QQG>
- <QQG_ASACTIVE> <axis>ROTATION</axis> <coefficients>162.771 </coefficients></QQG_ASACTIVE>
- <TRI> <axis>ROTATION</axis> <coefficients>55.373967 </coefficients></TRI>
- <TRI_ASACTIVE> <axis>ROTATION</axis> <coefficients>55.373967 </coefficients></TRI_ASACTIVE>
- <MISTRAL> <axis>ROTATION</axis> <coefficients>-51.821170 </coefficients></MISTRAL>
- <MISTRAL_ASACTIVE> <axis>ROTATION</axis> <coefficients>-51.821170 </coefficients></MISTRAL_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>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml b/SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..296a8bdb4
--- /dev/null
+++ b/SRT/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
@@ -0,0 +1,19 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>CCB</n><a>ROTATION</a><p>44.95999544939037931 </p></configuration>
+
+ <configuration><n>XB</n> <a>ROTATION</a><p>135.003886290282340384 </p></configuration>
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml b/SRT/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml
deleted file mode 100644
index cfc134bab..000000000
--- a/SRT/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <CCB> <axis>ROTATION</axis> <coefficients>44.95999544939037931 </coefficients></CCB>
- <CCB_ASACTIVE> <axis>ROTATION</axis> <coefficients>44.95999544939037931 </coefficients></CCB_ASACTIVE>
- <XB> <axis>ROTATION</axis> <coefficients>135.003886290282340384 </coefficients></XB>
- <XB_ASACTIVE> <axis>ROTATION</axis> <coefficients>135.003886290282340384 </coefficients></XB_ASACTIVE>
-
-</SRTMinorServoLookupTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml b/SRT/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..b553b2235
--- /dev/null
+++ b/SRT/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml
@@ -0,0 +1,35 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>LLP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>LLP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>LLP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>PPP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>PPP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>PPP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>PLP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>PLP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>PLP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>HHP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>HHP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>HHP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>XKP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>XKP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>XKP</n><a>RTHETA</a> <p>0</p></configuration>
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml b/SRT/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml
deleted file mode 100644
index 086b3785b..000000000
--- a/SRT/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <LLP> <axis>TX</axis> <coefficients>0 </coefficients></LLP>
- <LLP> <axis>TZ</axis> <coefficients>0 </coefficients></LLP>
- <LLP> <axis>RTHETA</axis> <coefficients>0 </coefficients></LLP>
-
- <PPP> <axis>TX</axis> <coefficients>0 </coefficients></PPP>
- <PPP> <axis>TZ</axis> <coefficients>0 </coefficients></PPP>
- <PPP> <axis>RTHETA</axis> <coefficients>0 </coefficients></PPP>
-
- <PLP> <axis>TX</axis> <coefficients>0 </coefficients></PLP>
- <PLP> <axis>TZ</axis> <coefficients>0 </coefficients></PLP>
- <PLP> <axis>RTHETA</axis> <coefficients>0 </coefficients></PLP>
-
- <HHP> <axis>TX</axis> <coefficients>0 </coefficients></HHP>
- <HHP> <axis>TZ</axis> <coefficients>0 </coefficients></HHP>
- <HHP> <axis>RTHETA</axis> <coefficients>0 </coefficients></HHP>
-
- <XKP> <axis>TX</axis> <coefficients>0 </coefficients></XKP>
- <XKP> <axis>TZ</axis> <coefficients>0 </coefficients></XKP>
- <XKP> <axis>RTHETA</axis> <coefficients>0 </coefficients></XKP>
-
-</SRTMinorServoLookupTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml b/SRT/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..23ce8bfe3
--- /dev/null
+++ b/SRT/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml
@@ -0,0 +1,99 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>CCG</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCG</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>CCG</n> <a>TZ</a><p>-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940 </p></configuration>
+ <configuration><n>CCG</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>CCG</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>CCG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CCG_AS_OFF</n><a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>TY</a><p>28.256852219272844, -0.002707044952, -0.009870218853, 0.000031617958 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>TZ</a><p>9.530113849340003, -0.169826241752, 0.000419997047, 0.000003985237 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>RX</a><p>-0.011392527142374848, -0.0001426193499425, 0.000039508844799, -0.000000131010010 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>KKG</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>KKG</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>KKG</n> <a>TZ</a><p>-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940 </p></configuration>
+ <configuration><n>KKG</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>KKG</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>KKG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>KKG_AS_OFF</n><a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>TY</a><p>28.256852219272844, -0.002707044952, -0.009870218853, 0.000031617958 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>TZ</a><p>9.530113849340003, -0.169826241752, 0.000419997047, 0.000003985237 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>RX</a><p>-0.011392527142374848, -0.0001426193499425, 0.000039508844799, -0.000000131010010 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>WWG</n> <a>TX</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>TY</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>TZ</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>RX</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>RY</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>QQG</n> <a>TX</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>TY</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>TZ</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>RX</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>RY</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CTR</n> <a>TX</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>TY</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>TZ</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>RX</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>RY</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>MISTRAL</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>TZ</a><p>-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CCB</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCB</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>CCB</n> <a>TZ</a><p>91.5590595452, -16.4202062811, 1.16941963489, -0.040640240455, 0.000733782714288, -6.62393455442e-06, 2.36410838911e-08 </p></configuration>
+ <configuration><n>CCB</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>CCB</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>CCB</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CCB_AS_OFF</n><a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>TY</a><p>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>TZ</a><p>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>RX</a><p>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>XB</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>XB</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>XB</n> <a>TZ</a><p>-38.3143893309, 4.30888128547, -0.18265795755, 0.00350049382452, -3.17057523513e-05, 1.11006707448e-07 </p></configuration>
+ <configuration><n>XB</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>XB</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>XB</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>XB_AS_OFF</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>TY</a><p>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>TZ</a><p>7.92754535681,-1.73279985542,0.147346047014,-0.00516934108597,7.69094654954e-05,-4.0697957632e-07 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>RX</a><p>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>RZ</a><p>0 </p></configuration>
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml b/SRT/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml
deleted file mode 100644
index 0cabed4bb..000000000
--- a/SRT/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,125 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <CCG> <axis>TX</axis><coefficients>-1.5 </coefficients></CCG>
- <CCG> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></CCG>
- <CCG> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></CCG>
- <CCG> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></CCG>
- <CCG> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></CCG>
- <CCG> <axis>RZ</axis><coefficients>0 </coefficients></CCG>
-
- <CCG_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>TZ</axis><coefficients>-15.6669651675,1.9293068324,-0.0628990613,0.0007771141,-0.0000032940 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></CCG_ASACTIVE>
-
- <KKG> <axis>TX</axis><coefficients>-1.5 </coefficients></KKG>
- <KKG> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></KKG>
- <KKG> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></KKG>
- <KKG> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></KKG>
- <KKG> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></KKG>
- <KKG> <axis>RZ</axis><coefficients>0 </coefficients></KKG>
-
- <KKG_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>TZ</axis><coefficients>-15.6669651675,1.9293068324,-0.0628990613,0.0007771141,-0.0000032940 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></KKG_ASACTIVE>
-
- <WWG> <axis>TX</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>TY</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>TZ</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>RX</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>RY</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>RZ</axis><coefficients>0 </coefficients></WWG>
-
- <WWG_ASACTIVE> <axis>TX</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>TY</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>TZ</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>RX</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>RY</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
-
- <QQG> <axis>TX</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>TY</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>TZ</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>RX</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>RY</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>RZ</axis><coefficients>0 </coefficients></QQG>
-
- <QQG_ASACTIVE> <axis>TX</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>TY</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>TZ</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>RX</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>RY</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
-
- <TRI> <axis>TX</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>TY</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>TZ</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>RX</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>RY</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>RZ</axis><coefficients>0 </coefficients></TRI>
-
- <TRI_ASACTIVE> <axis>TX</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>TY</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>TZ</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>RX</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>RY</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
-
- <MISTRAL> <axis>TX</axis><coefficients>-1.5 </coefficients></MISTRAL>
- <MISTRAL> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></MISTRAL>
- <MISTRAL> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></MISTRAL>
- <MISTRAL> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></MISTRAL>
- <MISTRAL> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></MISTRAL>
- <MISTRAL> <axis>RZ</axis><coefficients>0 </coefficients></MISTRAL>
-
- <MISTRAL_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>TZ</axis><coefficients>-15.6669651675,1.9293068324,-0.0628990613,0.0007771141,-0.0000032940 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></MISTRAL_ASACTIVE>
-
- <CCB> <axis>TX</axis><coefficients>-1.5 </coefficients></CCB>
- <CCB> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></CCB>
- <CCB> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></CCB>
- <CCB> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></CCB>
- <CCB> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></CCB>
- <CCB> <axis>RZ</axis><coefficients>0 </coefficients></CCB>
-
- <CCB_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>TZ</axis><coefficients>91.5590595452,-16.4202062811,1.16941963489,-0.040640240455,0.000733782714288,-6.62393455442e-06,2.36410838911e-08 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409,0.00014822163433269445,0.000027586713698,-0.000000077732053 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></CCB_ASACTIVE>
-
- <XB> <axis>TX</axis><coefficients>-1.5 </coefficients></XB>
- <XB> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></XB>
- <XB> <axis>TZ</axis><coefficients>7.92754535681,-1.73279985542,0.147346047014,-0.00516934108597,7.69094654954e-05,-4.0697957632e-07 </coefficients></XB>
- <XB> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></XB>
- <XB> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></XB>
- <XB> <axis>RZ</axis><coefficients>0 </coefficients></XB>
-
- <XB_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>TZ</axis><coefficients>-38.3143893309,4.30888128547,-0.18265795755,0.00350049382452,-3.17057523513e-05,1.11006707448e-07 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409,0.00014822163433269445,0.000027586713698,-0.000000077732053 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></XB_ASACTIVE>
-
-</SRTMinorServoLookupTable>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml
new file mode 100644
index 000000000..bf0a20bd8
--- /dev/null
+++ b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/Boss/Configurations/Configurations.xml
@@ -0,0 +1,28 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 02-04-25 Created
+-->
+
+<SRTMinorServoBossConfigurationsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoBoss: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">
+
+ <!--configuration> <DISCOS>LLP</DISCOS> <LDO>Primario</LDO> </configuration-->
+ <!--configuration> <DISCOS>PPP</DISCOS> <LDO>Primario</LDO> </configuration-->
+ <!--configuration> <DISCOS>PLP</DISCOS> <LDO>Primario</LDO> </configuration-->
+ <!--configuration> <DISCOS>HHP</DISCOS> <LDO>Primario</LDO> </configuration-->
+ <!--configuration> <DISCOS>XKP</DISCOS> <LDO>Primario</LDO> </configuration-->
+ <configuration> <DISCOS>CCG</DISCOS> <LDO>Gregoriano1</LDO> </configuration>
+ <configuration> <DISCOS>KKG</DISCOS> <LDO>Gregoriano2</LDO> </configuration>
+ <configuration> <DISCOS>WWG</DISCOS> <LDO>Gregoriano3</LDO> </configuration>
+ <configuration> <DISCOS>QQG</DISCOS> <LDO>Gregoriano4</LDO> </configuration>
+ <configuration> <DISCOS>CTR</DISCOS> <LDO>Gregoriano5</LDO> </configuration>
+ <configuration> <DISCOS>MISTRAL</DISCOS> <LDO>Gregoriano6</LDO> </configuration>
+ <configuration> <DISCOS>CABINET</DISCOS> <LDO>Gregoriano7</LDO> </configuration>
+ <configuration> <DISCOS>CCB</DISCOS> <LDO>BWG1</LDO> </configuration>
+ <configuration> <DISCOS>XB</DISCOS> <LDO>BWG3</LDO> </configuration>
+
+</SRTMinorServoBossConfigurationsTable>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..df4600854
--- /dev/null
+++ b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/Coefficients/Coefficients.xml
@@ -0,0 +1,31 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>CCG</n> <a>ROTATION</a><p>-88.70659 </p></configuration>
+
+ <configuration><n>KKG</n> <a>ROTATION</a><p>-159.8899 </p></configuration>
+
+ <configuration><n>WWG</n> <a>ROTATION</a><p>90.971610 </p></configuration>
+
+ <configuration><n>QQG</n> <a>ROTATION</a><p>162.771 </p></configuration>
+
+ <configuration><n>CTR</n> <a>ROTATION</a><p>55.373967 </p></configuration>
+
+ <configuration><n>MISTRAL</n> <a>ROTATION</a><p>-51.821170 </p></configuration>
+
+ <configuration><n>CABINET</n> <a>ROTATION</a><p>40 </p></configuration>
+
+ <!-- BWG configurations are not necessary since the SETUP command takes care of positioning the GFR to 0 -->
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml
deleted file mode 100644
index c8cb3564c..000000000
--- a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/GFR/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <CCG> <axis>ROTATION</axis> <coefficients>-88.70659 </coefficients></CCG>
- <CCG_ASACTIVE> <axis>ROTATION</axis> <coefficients>-88.70659 </coefficients></CCG_ASACTIVE>
- <KKG> <axis>ROTATION</axis> <coefficients>-159.8899 </coefficients></KKG>
- <KKG_ASACTIVE> <axis>ROTATION</axis> <coefficients>-159.8899 </coefficients></KKG_ASACTIVE>
- <WWG> <axis>ROTATION</axis> <coefficients>90.971610 </coefficients></WWG>
- <WWG_ASACTIVE> <axis>ROTATION</axis> <coefficients>90.971610 </coefficients></WWG_ASACTIVE>
- <QQG> <axis>ROTATION</axis> <coefficients>162.771 </coefficients></QQG>
- <QQG_ASACTIVE> <axis>ROTATION</axis> <coefficients>162.771 </coefficients></QQG_ASACTIVE>
- <TRI> <axis>ROTATION</axis> <coefficients>55.373967 </coefficients></TRI>
- <TRI_ASACTIVE> <axis>ROTATION</axis> <coefficients>55.373967 </coefficients></TRI_ASACTIVE>
- <MISTRAL> <axis>ROTATION</axis> <coefficients>-51.821170 </coefficients></MISTRAL>
- <MISTRAL_ASACTIVE> <axis>ROTATION</axis> <coefficients>-51.821170 </coefficients></MISTRAL_ASACTIVE>
-
- <CABINET> <axis>ROTATION</axis> <coefficients>40 </coefficients></CABINET>
-
- <!-- 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>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..296a8bdb4
--- /dev/null
+++ b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/Coefficients/Coefficients.xml
@@ -0,0 +1,19 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>CCB</n><a>ROTATION</a><p>44.95999544939037931 </p></configuration>
+
+ <configuration><n>XB</n> <a>ROTATION</a><p>135.003886290282340384 </p></configuration>
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml
deleted file mode 100644
index 2c09bec47..000000000
--- a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/M3R/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <CCB> <axis>ROTATION</axis> <coefficients>-44.95999544939037931 </coefficients></CCB>
- <CCB_ASACTIVE> <axis>ROTATION</axis> <coefficients>-44.95999544939037931 </coefficients></CCB_ASACTIVE>
- <XB> <axis>ROTATION</axis> <coefficients>-135.003886290282340384 </coefficients></XB>
- <XB_ASACTIVE> <axis>ROTATION</axis> <coefficients>-135.003886290282340384 </coefficients></XB_ASACTIVE>
-
-</SRTMinorServoLookupTable>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..b7490f861
--- /dev/null
+++ b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/Coefficients/Coefficients.xml
@@ -0,0 +1,99 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>CCG</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCG</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>CCG</n> <a>TZ</a><p>-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940 </p></configuration>
+ <configuration><n>CCG</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>CCG</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>CCG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CCG_AS_OFF</n><a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>TY</a><p>28.256852219272844, -0.002707044952, -0.009870218853, 0.000031617958 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>TZ</a><p>9.530113849340003, -0.169826241752, 0.000419997047, 0.000003985237 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>RX</a><p>-0.011392527142374848, -0.0001426193499425, 0.000039508844799, -0.000000131010010 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>CCG_AS_OFF</n><a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>KKG</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>KKG</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>KKG</n> <a>TZ</a><p>-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940 </p></configuration>
+ <configuration><n>KKG</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>KKG</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>KKG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>KKG_AS_OFF</n><a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>TY</a><p>28.256852219272844, -0.002707044952, -0.009870218853, 0.000031617958 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>TZ</a><p>9.530113849340003, -0.169826241752, 0.000419997047, 0.000003985237 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>RX</a><p>-0.011392527142374848, -0.0001426193499425, 0.000039508844799, -0.000000131010010 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>KKG_AS_OFF</n><a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>WWG</n> <a>TX</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>TY</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>TZ</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>RX</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>RY</a><p>0 </p></configuration>
+ <configuration><n>WWG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>QQG</n> <a>TX</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>TY</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>TZ</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>RX</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>RY</a><p>0 </p></configuration>
+ <configuration><n>QQG</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CTR</n> <a>TX</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>TY</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>TZ</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>RX</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>RY</a><p>0 </p></configuration>
+ <configuration><n>CTR</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>MISTRAL</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>TZ</a><p>-15.6669651675, 1.9293068324, -0.0628990613, 0.0007771141, -0.0000032940 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>MISTRAL</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CCB</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCB</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>CCB</n> <a>TZ</a><p>91.5590595452, -16.4202062811, 1.16941963489, -0.040640240455, 0.000733782714288, -6.62393455442e-06, 2.36410838911e-08 </p></configuration>
+ <configuration><n>CCB</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>CCB</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>CCB</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>CCB_AS_OFF</n><a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>TY</a><p>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>TZ</a><p>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>RX</a><p>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>CCB_AS_OFF</n><a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>XB</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>XB</n> <a>TY</a><p>29.556666666666498, 0.263472663139432, -0.018206701940039, 0.000072373113855 </p></configuration>
+ <configuration><n>XB</n> <a>TZ</a><p>-38.3143893309, 4.30888128547, -0.18265795755, 0.00350049382452, -3.17057523513e-05, 1.11006707448e-07 </p></configuration>
+ <configuration><n>XB</n> <a>RX</a><p>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </p></configuration>
+ <configuration><n>XB</n> <a>RY</a><p>-0.036111111111111108 </p></configuration>
+ <configuration><n>XB</n> <a>RZ</a><p>0 </p></configuration>
+
+ <configuration><n>XB_AS_OFF</n> <a>TX</a><p>-1.5 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>TY</a><p>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>TZ</a><p>7.92754535681,-1.73279985542,0.147346047014,-0.00516934108597,7.69094654954e-05,-4.0697957632e-07 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>RX</a><p>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>RY</a><p>-0.03611111111111111 </p></configuration>
+ <configuration><n>XB_AS_OFF</n> <a>RZ</a><p>0 </p></configuration>
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml b/SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml
deleted file mode 100644
index 0cabed4bb..000000000
--- a/SRT/Configuration/CDB/alma/DataBlock/MinorServo/SRP/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,125 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <CCG> <axis>TX</axis><coefficients>-1.5 </coefficients></CCG>
- <CCG> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></CCG>
- <CCG> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></CCG>
- <CCG> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></CCG>
- <CCG> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></CCG>
- <CCG> <axis>RZ</axis><coefficients>0 </coefficients></CCG>
-
- <CCG_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>TZ</axis><coefficients>-15.6669651675,1.9293068324,-0.0628990613,0.0007771141,-0.0000032940 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></CCG_ASACTIVE>
- <CCG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></CCG_ASACTIVE>
-
- <KKG> <axis>TX</axis><coefficients>-1.5 </coefficients></KKG>
- <KKG> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></KKG>
- <KKG> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></KKG>
- <KKG> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></KKG>
- <KKG> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></KKG>
- <KKG> <axis>RZ</axis><coefficients>0 </coefficients></KKG>
-
- <KKG_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>TZ</axis><coefficients>-15.6669651675,1.9293068324,-0.0628990613,0.0007771141,-0.0000032940 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></KKG_ASACTIVE>
- <KKG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></KKG_ASACTIVE>
-
- <WWG> <axis>TX</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>TY</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>TZ</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>RX</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>RY</axis><coefficients>0 </coefficients></WWG>
- <WWG> <axis>RZ</axis><coefficients>0 </coefficients></WWG>
-
- <WWG_ASACTIVE> <axis>TX</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>TY</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>TZ</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>RX</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>RY</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
- <WWG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></WWG_ASACTIVE>
-
- <QQG> <axis>TX</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>TY</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>TZ</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>RX</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>RY</axis><coefficients>0 </coefficients></QQG>
- <QQG> <axis>RZ</axis><coefficients>0 </coefficients></QQG>
-
- <QQG_ASACTIVE> <axis>TX</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>TY</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>TZ</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>RX</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>RY</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
- <QQG_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></QQG_ASACTIVE>
-
- <TRI> <axis>TX</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>TY</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>TZ</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>RX</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>RY</axis><coefficients>0 </coefficients></TRI>
- <TRI> <axis>RZ</axis><coefficients>0 </coefficients></TRI>
-
- <TRI_ASACTIVE> <axis>TX</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>TY</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>TZ</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>RX</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>RY</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
- <TRI_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></TRI_ASACTIVE>
-
- <MISTRAL> <axis>TX</axis><coefficients>-1.5 </coefficients></MISTRAL>
- <MISTRAL> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></MISTRAL>
- <MISTRAL> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></MISTRAL>
- <MISTRAL> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></MISTRAL>
- <MISTRAL> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></MISTRAL>
- <MISTRAL> <axis>RZ</axis><coefficients>0 </coefficients></MISTRAL>
-
- <MISTRAL_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>TZ</axis><coefficients>-15.6669651675,1.9293068324,-0.0628990613,0.0007771141,-0.0000032940 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409, 0.00014822163433269445, 0.000027586713698, -0.000000077732053 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></MISTRAL_ASACTIVE>
- <MISTRAL_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></MISTRAL_ASACTIVE>
-
- <CCB> <axis>TX</axis><coefficients>-1.5 </coefficients></CCB>
- <CCB> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></CCB>
- <CCB> <axis>TZ</axis><coefficients>9.530113849340003,-0.169826241752,0.000419997047,0.000003985237 </coefficients></CCB>
- <CCB> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></CCB>
- <CCB> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></CCB>
- <CCB> <axis>RZ</axis><coefficients>0 </coefficients></CCB>
-
- <CCB_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>TZ</axis><coefficients>91.5590595452,-16.4202062811,1.16941963489,-0.040640240455,0.000733782714288,-6.62393455442e-06,2.36410838911e-08 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409,0.00014822163433269445,0.000027586713698,-0.000000077732053 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></CCB_ASACTIVE>
- <CCB_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></CCB_ASACTIVE>
-
- <XB> <axis>TX</axis><coefficients>-1.5 </coefficients></XB>
- <XB> <axis>TY</axis><coefficients>28.256852219272844,-0.002707044952,-0.009870218853,0.000031617958 </coefficients></XB>
- <XB> <axis>TZ</axis><coefficients>7.92754535681,-1.73279985542,0.147346047014,-0.00516934108597,7.69094654954e-05,-4.0697957632e-07 </coefficients></XB>
- <XB> <axis>RX</axis><coefficients>-0.011392527142374848,-0.0001426193499425,0.000039508844799,-0.000000131010010 </coefficients></XB>
- <XB> <axis>RY</axis><coefficients>-0.03611111111111111 </coefficients></XB>
- <XB> <axis>RZ</axis><coefficients>0 </coefficients></XB>
-
- <XB_ASACTIVE> <axis>TX</axis><coefficients>-1.5 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>TY</axis><coefficients>29.556666666666498,0.263472663139432,-0.018206701940039,0.000072373113855 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>TZ</axis><coefficients>-38.3143893309,4.30888128547,-0.18265795755,0.00350049382452,-3.17057523513e-05,1.11006707448e-07 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>RX</axis><coefficients>-0.0055555555555569409,0.00014822163433269445,0.000027586713698,-0.000000077732053 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>RY</axis><coefficients>-0.036111111111111108 </coefficients></XB_ASACTIVE>
- <XB_ASACTIVE> <axis>RZ</axis><coefficients>0 </coefficients></XB_ASACTIVE>
-
-</SRTMinorServoLookupTable>
diff --git a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
index 293610d47..b88d58942 100644
--- a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
+++ b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
@@ -135,10 +135,11 @@ module MinorServo
/**
* This method loads from the CDB the positioning coefficients related to the given configuration
* @param configuration the string representing the name of the table from which the coefficients will be loaded
+ * @param as_off a boolean indicating whether the servo requires a _AS_OFF configuration
* @throw ComponentErrors::ComponentErrorsEx when there is an error while trying to load the table for the given configuration
* @return true if the servo is in use with the current configuration, false otherwise
*/
- boolean setup(in string configuration) raises (ComponentErrors::ComponentErrorsEx);
+ boolean setup(in string configuration, in boolean as_off) raises (ComponentErrors::ComponentErrorsEx);
/**
* This method calculates the servo coordinates for a given elevation
diff --git a/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h b/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h
index cae77edb3..e966f532d 100644
--- a/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h
+++ b/SRT/Libraries/SRTMinorServoLibrary/include/SRTMinorServoContainers.h
@@ -70,31 +70,6 @@ namespace MinorServo
double starting_elevation = 0;
};
- /**
- * This dictionary contains information regarding the possibile focal configurations.
- * The key indicates the configuration as known by DISCOS.
- * The value is a pair, the first element of the pair is the DISCOS enumeration for the relative Leonardo configuration,
- * the second element of the pair indicates whether the configuration has a ASACTIVE twin configuraiton.
- */
- using DiscosConfigurationNameTableType = std::map<std::string, std::pair<SRTMinorServoFocalConfiguration, bool>>;
- const DiscosConfigurationNameTableType DiscosConfigurationNameTable =
- {
- //{"LLP", std::make_pair(CONFIGURATION_PRIMARY, false)},
- //{"PPP", std::make_pair(CONFIGURATION_PRIMARY, false)},
- //{"PLP", std::make_pair(CONFIGURATION_PRIMARY, false)},
- //{"HHP", std::make_pair(CONFIGURATION_PRIMARY, false)},
- //{"XKP", std::make_pair(CONFIGURATION_PRIMARY, false)},
- {"CCG", std::make_pair(CONFIGURATION_GREGORIAN1, true )},
- {"KKG", std::make_pair(CONFIGURATION_GREGORIAN2, true )},
- {"WWG", std::make_pair(CONFIGURATION_GREGORIAN3, true )},
- {"QQG", std::make_pair(CONFIGURATION_GREGORIAN4, true )},
- {"TRI", std::make_pair(CONFIGURATION_GREGORIAN5, true )},
- {"MISTRAL", std::make_pair(CONFIGURATION_GREGORIAN6, true )},
- {"CCB", std::make_pair(CONFIGURATION_BWG1, true )},
- {"XB", std::make_pair(CONFIGURATION_BWG3, true )},
- {"CABINET", std::make_pair(CONFIGURATION_GREGORIAN7, false)},
- };
-
/**
* This dictionary contains the Leonardo focal configurations DISCOS enumerations, alongside their name inside the Leonardo minor servo system.
*/
@@ -134,7 +109,7 @@ namespace MinorServo
(CONFIGURATION_BWG3, 23)
(CONFIGURATION_BWG4, 24);
- using SRTMinorServoLookupTable = std::map<std::string, std::vector<double>>;
+ using SRTMinorServoCoefficientsTable = std::map<std::string, std::vector<double>>;
/**
* This class implements a queue of time tagged positions. it extends a simple std::map with some specific methods.
diff --git a/SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml
new file mode 100644
index 000000000..b553b2235
--- /dev/null
+++ b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/Coefficients/Coefficients.xml
@@ -0,0 +1,35 @@
+<?xml version='1.0' encoding='ISO-8859-1'?>
+<!--
+ - Author: Giuseppe Carboni
+ - History:
+ - 14-03-23 Created
+-->
+
+<SRTMinorServoCoefficientsTable xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients: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">
+
+ <!-- n stands for name, a stands for axis, p stands for polynomial -->
+
+ <configuration><n>LLP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>LLP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>LLP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>PPP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>PPP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>PPP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>PLP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>PLP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>PLP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>HHP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>HHP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>HHP</n><a>RTHETA</a> <p>0</p></configuration>
+
+ <configuration><n>XKP</n><a>TX</a> <p>0</p></configuration>
+ <configuration><n>XKP</n><a>TZ</a> <p>0</p></configuration>
+ <configuration><n>XKP</n><a>RTHETA</a> <p>0</p></configuration>
+
+</SRTMinorServoCoefficientsTable>
diff --git a/SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml b/SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml
deleted file mode 100644
index 086b3785b..000000000
--- a/SRT/Outdated/CDB/alma/DataBlock/MinorServo/PFP/LookupTables/LookupTables.xml
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version='1.0' encoding='ISO-8859-1'?>
-<!--
- - Author: Giuseppe Carboni
- - History:
- - 14-03-23 Created
--->
-
-<SRTMinorServoLookupTable xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable: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">
-
- <LLP> <axis>TX</axis> <coefficients>0 </coefficients></LLP>
- <LLP> <axis>TZ</axis> <coefficients>0 </coefficients></LLP>
- <LLP> <axis>RTHETA</axis> <coefficients>0 </coefficients></LLP>
-
- <PPP> <axis>TX</axis> <coefficients>0 </coefficients></PPP>
- <PPP> <axis>TZ</axis> <coefficients>0 </coefficients></PPP>
- <PPP> <axis>RTHETA</axis> <coefficients>0 </coefficients></PPP>
-
- <PLP> <axis>TX</axis> <coefficients>0 </coefficients></PLP>
- <PLP> <axis>TZ</axis> <coefficients>0 </coefficients></PLP>
- <PLP> <axis>RTHETA</axis> <coefficients>0 </coefficients></PLP>
-
- <HHP> <axis>TX</axis> <coefficients>0 </coefficients></HHP>
- <HHP> <axis>TZ</axis> <coefficients>0 </coefficients></HHP>
- <HHP> <axis>RTHETA</axis> <coefficients>0 </coefficients></HHP>
-
- <XKP> <axis>TX</axis> <coefficients>0 </coefficients></XKP>
- <XKP> <axis>TZ</axis> <coefficients>0 </coefficients></XKP>
- <XKP> <axis>RTHETA</axis> <coefficients>0 </coefficients></XKP>
-
-</SRTMinorServoLookupTable>
diff --git a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoBoss.xsd b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoBoss.xsd
index 153014681..1456191e1 100644
--- a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoBoss.xsd
+++ b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoBoss.xsd
@@ -18,6 +18,19 @@
<xs:import namespace="urn:schemas-cosylab-com:Managment:1.0" schemaLocation="Managment.xsd"/>
<xs:import namespace="urn:schemas-cosylab-com:SRTMinorServoCommon:1.0" schemaLocation="SRTMinorServoCommon.xsd"/>
+ <xs:complexType name="SRTMinorServoBossConfigurationType">
+ <xs:sequence>
+ <xs:element name="DISCOS" type="xs:string" />
+ <xs:element name="LDO" type="xs:string" />
+ </xs:sequence>
+ </xs:complexType>
+
+ <xs:complexType name="SRTMinorServoBossConfigurationsTableType">
+ <xs:sequence>
+ <xs:element name="configuration" type="SRTMinorServoBossConfigurationType" minOccurs="0" maxOccurs="unbounded" />
+ </xs:sequence>
+ </xs:complexType>
+
<xs:complexType name="SRTMinorServoBossType">
<xs:complexContent>
<xs:extension base="baci:CharacteristicComponent">
@@ -53,5 +66,6 @@
</xs:complexType>
<xs:element name="SRTMinorServoBoss" type="SRTMinorServoBossType"/>
+ <xs:element name="SRTMinorServoBossConfigurationsTable" type="SRTMinorServoBossConfigurationsTableType" />
</xs:schema>
diff --git a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoCoefficients.xsd b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoCoefficients.xsd
new file mode 100644
index 000000000..e51c87367
--- /dev/null
+++ b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoCoefficients.xsd
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="ISO-8859-1"?>
+<!--
+ Author: Giuseppe Carboni, giuseppe.carboni@inaf.it
+-->
+<xs:schema
+ targetNamespace="urn:schemas-cosylab-com:SRTMinorServoCoefficients:1.0"
+ xmlns="urn:schemas-cosylab-com:SRTMinorServoCoefficients:1.0"
+ xmlns:xs="http://www.w3.org/2001/XMLSchema"
+ 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="SRTMinorServoConfigurationType">
+ <xs:sequence>
+ <xs:element name="n" type="xs:string" /> <!--name-->
+ <xs:element name="a" type="xs:string" /> <!--axis-->
+ <xs:element name="p" type="xs:string" /> <!--polynomial-->
+ </xs:sequence>
+ </xs:complexType>
+
+ <xs:complexType name="SRTMinorServoCoefficientsTableType">
+ <xs:sequence>
+ <xs:element name="configuration" type="SRTMinorServoConfigurationType" minOccurs="0" maxOccurs="unbounded" />
+ </xs:sequence>
+ </xs:complexType>
+
+ <xs:element name="SRTMinorServoCoefficientsTable" type="SRTMinorServoCoefficientsTableType" />
+
+</xs:schema>
diff --git a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoLookupTable.xsd b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoLookupTable.xsd
deleted file mode 100644
index 4470ec709..000000000
--- a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServoLookupTable.xsd
+++ /dev/null
@@ -1,53 +0,0 @@
-<?xml version="1.0" encoding="ISO-8859-1"?>
-<!--
- Author: Giuseppe Carboni, giuseppe.carboni@inaf.it
--->
-<xs:schema
- targetNamespace="urn:schemas-cosylab-com:SRTMinorServoLookupTable:1.0"
- xmlns="urn:schemas-cosylab-com:SRTMinorServoLookupTable:1.0"
- xmlns:xs="http://www.w3.org/2001/XMLSchema"
- 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="SRTMinorServoCoefficientsType">
- <xs:sequence>
- <xs:element name="axis" type="xs:string" />
- <xs:element name="coefficients" type="xs:string" />
- </xs:sequence>
- </xs:complexType>
-
- <xs:complexType name="SRTMinorServoLookupTableType">
- <xs:sequence>
- <xs:element name="LLP" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="PPP" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="PLP" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="HHP" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="XKP" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="CCG" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="CCG_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="KKG" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="KKG_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="WWG" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="WWG_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="QQG" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="QQG_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="TRI" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="TRI_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="MISTRAL" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="MISTRAL_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="CCB" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="CCB_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="XB" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="XB_ASACTIVE" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- <xs:element name="CABINET" type="SRTMinorServoCoefficientsType" minOccurs="0" maxOccurs="unbounded" />
- </xs:sequence>
- </xs:complexType>
-
- <xs:element name="SRTMinorServoLookupTable" type="SRTMinorServoLookupTableType" />
-
-</xs:schema>
diff --git a/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossCore.h b/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossCore.h
index b315443a8..240e5c831 100644
--- a/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossCore.h
+++ b/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossCore.h
@@ -286,6 +286,11 @@ private:
*/
void reset(bool force=false);
+ /**
+ * Method that loads the focal configurations names when the boss is started
+ */
+ std::map<std::string, std::string> loadConfigurations();
+
/**
* Method used to retrieve a configuration value from the CDB.
* @param configuration the name of the value to be read from the CDB.
@@ -443,6 +448,11 @@ private:
*/
std::map<std::string, SRTProgramTrackMinorServo_ptr> m_current_tracking_servos;
+ /**
+ * Map that contains the possible focal configurations
+ */
+ const std::map<std::string, std::string> m_DISCOS_2_LDO_configurations;
+
/**
* Current scan parameters.
*/
diff --git a/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossImpl.h b/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossImpl.h
index a22cceb6b..5321bf57d 100644
--- a/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossImpl.h
+++ b/SRT/Servers/SRTMinorServo/include/SRTMinorServoBossImpl.h
@@ -106,8 +106,8 @@ public:
virtual CORBA::Boolean isStarting();
/**
- * Method that tells if the system is using ASACTIVE lookup tables or not.
- * @return a CORBA::Boolean indicating if the system is configured to use ASACTIVE lookup tables or not.
+ * Method that tells if the system is using AS coefficients or not.
+ * @return a CORBA::Boolean indicating if the system is configured to use AS coefficients or not.
*/
virtual CORBA::Boolean isASConfiguration();
diff --git a/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h b/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
index a8254f7dd..a664462c0 100644
--- a/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
+++ b/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
@@ -105,10 +105,11 @@ public:
/**
* Asks the servo system to load the commanded configuration table.
* @param configuration_name the configuration the servo system should assume.
+ * @param as_off a boolean indicating whether the servo should use a _AS_OFF configuration
* @throw ComponentErrors::ComponentErrorsEx when there is an error while trying to load the table for the given configuration.
* @return true if the servo is in use with the current configuration, false otherwise
*/
- bool setup(const char* configuration_name = "");
+ bool setup(const char* configuration_name = "", CORBA::Boolean as_off = false);
/**
* Asks the component to calculate the servo system position starting from the given elevation.
@@ -524,7 +525,7 @@ private:
/**
* Table containing the coefficients for the positions calculations.
*/
- SRTMinorServoLookupTable m_current_lookup_table;
+ SRTMinorServoCoefficientsTable m_current_coefficients_table;
/**
* Configuration of the socket object.
@@ -616,7 +617,7 @@ public:
/**
* Setup method definition. It simply calls the SRTBaseMinorServoImpl method.
*/
- bool setup(const char* configuration_name = "") { return SRTBaseMinorServoImpl::setup(configuration_name); }
+ bool setup(const char* configuration_name = "", CORBA::Boolean as_off = false) { return SRTBaseMinorServoImpl::setup(configuration_name, as_off); }
/**
* Declaration of all the other inherited methods.
@@ -667,7 +668,7 @@ public:
* @param configuration_name the configuration the servo system should assume.
* @throw ComponentErrors::ComponentErrorsEx when there is an error while trying to load the table for the given configuration.
*/
- bool setup(const char* configuration_name = "");
+ bool setup(const char* configuration_name = "", CORBA::Boolean as_off = false);
/**
* Declaration of all the other inherited methods.
diff --git a/SRT/Servers/SRTMinorServo/src/Makefile b/SRT/Servers/SRTMinorServo/src/Makefile
index a61ed3645..141c676de 100644
--- a/SRT/Servers/SRTMinorServo/src/Makefile
+++ b/SRT/Servers/SRTMinorServo/src/Makefile
@@ -13,7 +13,7 @@ PY_SCRIPTS = _cover _airBlade _servoReset
# On-Line Database Files
# ----------------------
-CDB_SCHEMAS = SRTMinorServoCommon SRTMinorServoBoss SRTMinorServo SRTMinorServoSocketConfiguration SRTMinorServoVBrainConfiguration SRTMinorServoProperties SRTMinorServoLookupTable
+CDB_SCHEMAS = SRTMinorServoCommon SRTMinorServoBoss SRTMinorServo SRTMinorServoSocketConfiguration SRTMinorServoVBrainConfiguration SRTMinorServoProperties SRTMinorServoCoefficients
# ----------------------------
# Libraries (public and local)
diff --git a/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp b/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
index 8371127f0..ce3eca5c2 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
@@ -47,7 +47,7 @@ SRTBaseMinorServoImpl::SRTBaseMinorServoImpl(const ACE_CString& component_name,
m_in_use_ptr(this),
m_current_setup_ptr(this),
m_error_code_ptr(this),
- m_current_lookup_table(),
+ m_current_coefficients_table(),
m_socket_configuration(SRTMinorServoSocketConfiguration::getInstance(container_services)),
m_socket(SRTMinorServoSocket::getInstance(m_socket_configuration.m_ip_address, m_socket_configuration.m_port, m_socket_configuration.m_timeout))
{
@@ -254,11 +254,11 @@ void SRTBaseMinorServoImpl::preset(const ACS::doubleSeq& virtual_coords)
std::copy(coordinates.begin(), coordinates.end(), m_commanded_virtual_positions.begin());
}
-bool SRTBaseMinorServoImpl::setup(const char* configuration_name)
+bool SRTBaseMinorServoImpl::setup(const char* configuration_name, CORBA::Boolean as_off)
{
AUTO_TRACE(m_servo_name + "::setup()");
m_in_use.store(Management::MNG_FALSE);
- m_current_lookup_table.clear();
+ m_current_coefficients_table.clear();
m_current_setup = "";
std::string setup_name(configuration_name);
@@ -269,17 +269,21 @@ bool SRTBaseMinorServoImpl::setup(const char* configuration_name)
return false;
}
- IRA::CDBTable table(getContainerServices(), setup_name.c_str(), std::string("DataBlock/MinorServo/" + m_servo_name).c_str());
+ IRA::CDBTable table(getContainerServices(), "configuration", std::string("DataBlock/MinorServo/" + m_servo_name).c_str());
IRA::CError error;
error.Reset();
- if(!table.addField(error, "axis", IRA::CDataField::STRING))
+ if(!table.addField(error, "n", IRA::CDataField::STRING))
+ {
+ error.setExtra("Error adding field name", 0);
+ }
+ if(!table.addField(error, "a", IRA::CDataField::STRING))
{
error.setExtra("Error adding field axis", 0);
}
- if(!table.addField(error, "coefficients", IRA::CDataField::STRING))
+ if(!table.addField(error, "p", IRA::CDataField::STRING))
{
- error.setExtra("Error adding field coefficients", 0);
+ error.setExtra("Error adding field polynomial", 0);
}
if(!error.isNoError())
{
@@ -296,27 +300,52 @@ bool SRTBaseMinorServoImpl::setup(const char* configuration_name)
throw ex.getComponentErrorsEx();
}
- table.First();
- for(unsigned int i = 0; i < table.recordCount(); i++, table.Next())
+ // We should try to retrieve the _AS_OFF configuration if requested. If is not found, fallback to the normal one
+ std::string config_name = setup_name;
+ if(as_off)
+ config_name += "_AS_OFF";
+
+ for(size_t j = 0; j < (as_off ? 2 : 1); j++)
{
- std::string axis = std::string(table["axis"]->asString());
+ table.First();
+ for(unsigned int i = 0; i < table.recordCount(); i++, table.Next())
+ {
+ std::string name = std::string(table["n"]->asString());
+ if(name != config_name)
+ continue;
- std::vector<double> coefficients;
+ std::string axis = std::string(table["a"]->asString());
- std::string coefficient_str;
- std::stringstream stream(std::string(table["coefficients"]->asString()));
+ std::vector<double> coefficients;
- while(std::getline(stream, coefficient_str, ','))
- {
- coefficients.push_back(std::stod(std::regex_replace(coefficient_str, std::regex("\\s+"), "")));
+ std::string coefficient_str;
+ std::stringstream stream(std::string(table["p"]->asString()));
+
+ while(std::getline(stream, coefficient_str, ','))
+ {
+ coefficients.push_back(std::stod(std::regex_replace(coefficient_str, std::regex("\\s+"), "")));
+ }
+
+ m_current_coefficients_table[axis] = coefficients;
}
- m_current_lookup_table[axis] = coefficients;
+ if(m_current_coefficients_table.size() > 0)
+ {
+ // Configuration found, exit the loop
+ break;
+ }
+ else
+ {
+ // Reset the configuration name to the default one
+ config_name = setup_name;
+ }
}
table.closeTable();
- if(m_current_lookup_table.size() > 0)
+ if(m_current_coefficients_table.size() > 0)
{
+ if(as_off)
+ setup_name += "_AS_OFF";
m_current_setup = setup_name;
clearUserOffsets();
clearSystemOffsets();
@@ -344,7 +373,7 @@ ACS::doubleSeq* SRTBaseMinorServoImpl::calcCoordinates(double elevation)
for(size_t axis = 0; axis < m_virtual_axes; axis++)
{
- std::vector<double> coefficients = m_current_lookup_table.at(m_virtual_axes_names[axis]);
+ std::vector<double> coefficients = m_current_coefficients_table.at(m_virtual_axes_names[axis]);
double coordinate = 0;
diff --git a/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp b/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
index 5e3aaeb2d..a5c499f74 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
@@ -38,7 +38,8 @@ SRTMinorServoBossCore::SRTMinorServoBossCore(SRTMinorServoBossImpl& component) :
m_tracking_servos{
//{ "PFP", m_component.getContainerServices()->getComponent<SRTProgramTrackMinorServo>("MINORSERVO/PFP") },
{ "SRP", m_component.getContainerServices()->getComponent<SRTProgramTrackMinorServo>("MINORSERVO/SRP") }
- }
+ },
+ m_DISCOS_2_LDO_configurations(loadConfigurations())
{
AUTO_TRACE("SRTMinorServoBossCore::SRTMinorServoBossCore()");
@@ -196,17 +197,16 @@ void SRTMinorServoBossCore::setup(std::string commanded_setup)
std::transform(commanded_setup.begin(), commanded_setup.end(), commanded_setup.begin(), ::toupper);
- std::pair<SRTMinorServoFocalConfiguration, bool> cmd_configuration;
SRTMinorServoFocalConfiguration commanded_configuration;
try
{
- cmd_configuration = DiscosConfigurationNameTable.at(commanded_setup);
- commanded_configuration = cmd_configuration.first;
+ std::string LDO_configuration = m_DISCOS_2_LDO_configurations.at(commanded_setup);
+ commanded_configuration = LDOConfigurationNameTable.right.at(LDO_configuration);
- if(m_as_configuration.load() == Management::MNG_TRUE && cmd_configuration.second)
+ if(m_as_configuration.load() == Management::MNG_FALSE)
{
- commanded_setup += "_ASACTIVE";
+ commanded_setup += "_AS_OFF";
}
}
catch(std::out_of_range& oor)
@@ -235,8 +235,6 @@ void SRTMinorServoBossCore::setup(std::string commanded_setup)
}
}
- ACS_LOG(LM_FULL_INFO, "servoSetup", (LM_NOTICE, ("SETTING UP '" + commanded_setup + "' CONFIGURATION").c_str()));
-
m_commanded_configuration.store(commanded_configuration);
m_commanded_setup = commanded_setup;
@@ -336,8 +334,6 @@ void SRTMinorServoBossCore::park()
return;
}
- ACS_LOG(LM_FULL_INFO, "servoPark", (LM_NOTICE, "PARKING"));
-
m_commanded_configuration.store(CONFIGURATION_PARK);
m_commanded_setup = "Park";
@@ -504,7 +500,7 @@ void SRTMinorServoBossCore::setASConfiguration(std::string configuration)
}
// Should reload the correct setup if the system was already configured or was about to be
- if(!m_commanded_setup.empty())
+ if(!m_commanded_setup.empty() && m_motion_status.load() != MOTION_STATUS_PARKED)
{
configuration = m_commanded_setup.substr(0, m_commanded_setup.find("_"));
try
@@ -1460,6 +1456,49 @@ void SRTMinorServoBossCore::reset(bool force)
m_error_code.store(ERROR_NO_ERROR);
}
+std::map<std::string, std::string> SRTMinorServoBossCore::loadConfigurations()
+{
+ AUTO_TRACE("SRTMinorServoBossCore::loadConfigurations()");
+
+ IRA::CDBTable table(m_component.getContainerServices(), "configuration", std::string("DataBlock/MinorServo/Boss").c_str());
+ IRA::CError error;
+ error.Reset();
+
+ if(!table.addField(error, "DISCOS", IRA::CDataField::STRING))
+ {
+ error.setExtra("Error adding field DISCOS", 0);
+ }
+ if(!table.addField(error, "LDO", IRA::CDataField::STRING))
+ {
+ error.setExtra("Error adding field LDO", 0);
+ }
+ if(!error.isNoError())
+ {
+ _EXCPT_FROM_ERROR(ComponentErrors::IRALibraryResourceExImpl, ex, error);
+ ex.setCode(error.getErrorCode());
+ ex.setDescription((const char *)error.getDescription());
+ ex.log(LM_DEBUG);
+ throw ex.getComponentErrorsEx();
+ }
+ if(!table.openTable(error))
+ {
+ _EXCPT_FROM_ERROR(ComponentErrors::CDBAccessExImpl, ex, error);
+ ex.log(LM_DEBUG);
+ throw ex.getComponentErrorsEx();
+ }
+
+ std::map<std::string, std::string> map;
+
+ table.First();
+ for(unsigned int i = 0; i < table.recordCount(); i++, table.Next())
+ {
+ map[std::string(table["DISCOS"]->asString())] = std::string(table["LDO"]->asString());
+ }
+ table.closeTable();
+
+ return map;
+}
+
Management::TBoolean SRTMinorServoBossCore::getCDBConfiguration(std::string which_configuration)
{
AUTO_TRACE("SRTMinorServoBossCore::getCDBConfiguration()");
diff --git a/SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp b/SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp
index 2e6dff7e2..27bf305cc 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp
@@ -22,14 +22,14 @@ void SRTMinorServoParkThread::onStart()
m_status = 0;
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoParkThread::onStart()", (LM_NOTICE, "PARK THREAD STARTED"));
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoParkThread::onStart()", (LM_NOTICE, "Parking MinorServos..."));
}
void SRTMinorServoParkThread::onStop()
{
AUTO_TRACE("SRTMinorServoParkThread::onStop()");
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoParkThread::onStop()", (LM_NOTICE, "PARK THREAD STOPPED"));
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoParkThread::onStop()", (LM_NOTICE, "MinorServos parked"));
}
void SRTMinorServoParkThread::runLoop()
@@ -80,7 +80,7 @@ void SRTMinorServoParkThread::runLoop()
{
for(const auto& [name, servo] : m_core.m_servos)
{
- servo->setup("");
+ servo->setup("", false);
}
m_core.m_actual_setup = m_core.m_commanded_setup;
diff --git a/SRT/Servers/SRTMinorServo/src/SRTMinorServoScanThread.cpp b/SRT/Servers/SRTMinorServo/src/SRTMinorServoScanThread.cpp
index d195b2bf1..173981e0f 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTMinorServoScanThread.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTMinorServoScanThread.cpp
@@ -51,7 +51,7 @@ void SRTMinorServoScanThread::onStart()
auto servo = m_core.m_tracking_servos.at(m_core.m_current_scan.servo_name);
m_starting_coordinates = *servo->getAxesPositions(0);
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoScanThread::onStart()", (LM_NOTICE,
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoScanThread::onStart()", (LM_DEBUG,
("SCAN THREAD STARTED, SCANNING " + std::to_string((int)m_core.m_current_scan.scan_range) + "MM IN " + std::to_string((int)(m_core.m_current_scan.scan_duration / 10000000)) + " SECONDS ALONG " + m_core.m_current_scan.servo_name + " " + m_core.m_current_scan.axis_name + " AXIS").c_str()
));
}
@@ -60,7 +60,7 @@ void SRTMinorServoScanThread::onStop()
{
AUTO_TRACE("SRTMinorServoScanThread::onStop()");
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoScanThread::onStop()", (LM_NOTICE, "SCAN THREAD STOPPED"));
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoScanThread::onStop()", (LM_DEBUG, "SCAN THREAD STOPPED"));
m_core.m_scanning.store(Management::MNG_FALSE);
diff --git a/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp b/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp
index d782a86cb..cd6c05ca4 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTMinorServoSetupThread.cpp
@@ -27,15 +27,13 @@ void SRTMinorServoSetupThread::onStart()
m_LDO_configuration = LDOConfigurationNameTable.left.at(commanded_configuration);
m_gregorian_cover_position = commanded_configuration == CONFIGURATION_PRIMARY ? COVER_STATUS_CLOSED : COVER_STATUS_OPEN;
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoSetupThread::onStart()", (LM_NOTICE, ("SETUP THREAD STARTED WITH '" + m_core.m_commanded_setup + "' CONFIGURATION").c_str()));
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoSetupThread::onStart()", (LM_NOTICE, ("Setting up MinorServos with '" + m_core.m_commanded_setup + "' configuration").c_str()));
}
void SRTMinorServoSetupThread::onStop()
{
AUTO_TRACE("SRTMinorServoSetupThread::onStop()");
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoSetupThread::onStop()", (LM_NOTICE, "SETUP THREAD STOPPED"));
-
if(m_core.m_motion_status.load() == MOTION_STATUS_TRACKING)
{
try
@@ -47,6 +45,8 @@ void SRTMinorServoSetupThread::onStop()
ACS_SHORT_LOG((LM_ERROR, ex.errorTrace.routine));
}
}
+
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoSetupThread::onStop()", (LM_NOTICE, "MinorServos configured"));
}
void SRTMinorServoSetupThread::runLoop()
@@ -154,7 +154,7 @@ void SRTMinorServoSetupThread::runLoop()
{
try
{
- if(servo->setup(m_core.m_commanded_setup.c_str()))
+ if(servo->setup(m_core.m_commanded_setup.c_str(), m_core.m_as_configuration.load()))
{
m_core.m_current_servos[servo_name] = servo;
try
@@ -176,7 +176,7 @@ void SRTMinorServoSetupThread::runLoop()
}
}
- if(m_core.m_commanded_setup.find("_ASACTIVE") == std::string::npos)
+ if(!m_core.m_as_configuration.load())
{
// We commanded a configuration which does not use the active surface, therefore we need to send some slightly different coordinates with a preset command
@@ -198,7 +198,7 @@ void SRTMinorServoSetupThread::runLoop()
}
else
{
- // _ASACTIVE configuration, jump directly to state 7
+ // AS configuration, jump directly to state 7
m_status = 7;
}
diff --git a/SRT/Servers/SRTMinorServo/src/SRTMinorServoTrackingThread.cpp b/SRT/Servers/SRTMinorServo/src/SRTMinorServoTrackingThread.cpp
index b45fb40e5..e59c13750 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTMinorServoTrackingThread.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTMinorServoTrackingThread.cpp
@@ -22,16 +22,16 @@ void SRTMinorServoTrackingThread::onStart()
m_point_id = 0;
m_point_time = 0;
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoTrackingThread::onStart()", (LM_NOTICE, "TRACKING THREAD STARTED"));
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoTrackingThread::onStart()", (LM_DEBUG, "TRACKING THREAD STARTED"));
}
void SRTMinorServoTrackingThread::onStop()
{
AUTO_TRACE("SRTMinorServoTrackingThread::onStop()");
- ACS_LOG(LM_FULL_INFO, "SRTMinorServoTrackingThread::onStop()", (LM_NOTICE, "TRACKING THREAD STOPPED"));
-
m_core.m_elevation_tracking.store(Management::MNG_FALSE);
+
+ ACS_LOG(LM_FULL_INFO, "SRTMinorServoTrackingThread::onStop()", (LM_DEBUG, "TRACKING THREAD STOPPED"));
}
void SRTMinorServoTrackingThread::runLoop()
diff --git a/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp b/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
index ddad515e1..925881a89 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
@@ -122,9 +122,9 @@ bool SRTProgramTrackMinorServoImpl::status()
return status;
}
-bool SRTProgramTrackMinorServoImpl::setup(const char* configuration_name)
+bool SRTProgramTrackMinorServoImpl::setup(const char* configuration_name, CORBA::Boolean as_off)
{
- bool return_value = SRTBaseMinorServoImpl::setup(configuration_name);
+ bool return_value = SRTBaseMinorServoImpl::setup(configuration_name, as_off);
m_tracking_queue.clear();
m_total_trajectory_points.store(0);
--
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