diff --git a/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml b/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml
index f34f6a21c21e6608d46e5421bf2782bb21615b6b..4e5b1329417bdfb5efa0185d772c00605fa82972 100644
--- a/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml
+++ b/SRT/CDB/alma/MINORSERVO/GFR/GFR.xml
@@ -27,7 +27,7 @@
<virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />
<virtual_user_offsets description="Sequence, virtual user axes offsets" />
<virtual_system_offsets description="Sequence, virtual system axes offsets" />
- <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+ <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
<in_use description="Boolean indicating whether the servo is in use in the current configuration" />
<current_setup description="The name of the current configuration" />
<error_code description="The type of error encountered" />
diff --git a/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml b/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml
index 8dfa3aa1c8f945f231acdedde0dd77c726517f2b..15d5e2db41d24dff1e80442608eb82f75bf0a3ee 100644
--- a/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml
+++ b/SRT/CDB/alma/MINORSERVO/M3R/M3R.xml
@@ -27,7 +27,7 @@
<virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />
<virtual_user_offsets description="Sequence, virtual user axes offsets" />
<virtual_system_offsets description="Sequence, virtual system axes offsets" />
- <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+ <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
<in_use description="Boolean indicating whether the servo is in use in the current configuration" />
<current_setup description="The name of the current configuration" />
<error_code description="The type of error encountered" />
diff --git a/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml b/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml
index d783896b4853eac3afbc8e7ddf75cf141c2931a7..53e1c5438a06ca33e4418da3913a320673dc2514 100644
--- a/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml
+++ b/SRT/CDB/alma/MINORSERVO/SRP/SRP.xml
@@ -28,7 +28,7 @@
<virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />
<virtual_user_offsets description="Sequence, virtual user axes offsets" />
<virtual_system_offsets description="Sequence, virtual system axes offsets" />
- <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+ <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
<in_use description="Boolean indicating whether the servo is in use in the current configuration" />
<current_setup description="The name of the current configuration" />
<error_code description="The type of error encountered" />
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml b/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml
index f34f6a21c21e6608d46e5421bf2782bb21615b6b..4e5b1329417bdfb5efa0185d772c00605fa82972 100644
--- a/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml
+++ b/SRT/Configuration/CDB/alma/MINORSERVO/GFR/GFR.xml
@@ -27,7 +27,7 @@
<virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />
<virtual_user_offsets description="Sequence, virtual user axes offsets" />
<virtual_system_offsets description="Sequence, virtual system axes offsets" />
- <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+ <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
<in_use description="Boolean indicating whether the servo is in use in the current configuration" />
<current_setup description="The name of the current configuration" />
<error_code description="The type of error encountered" />
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml b/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml
index 8dfa3aa1c8f945f231acdedde0dd77c726517f2b..15d5e2db41d24dff1e80442608eb82f75bf0a3ee 100644
--- a/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml
+++ b/SRT/Configuration/CDB/alma/MINORSERVO/M3R/M3R.xml
@@ -27,7 +27,7 @@
<virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />
<virtual_user_offsets description="Sequence, virtual user axes offsets" />
<virtual_system_offsets description="Sequence, virtual system axes offsets" />
- <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+ <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
<in_use description="Boolean indicating whether the servo is in use in the current configuration" />
<current_setup description="The name of the current configuration" />
<error_code description="The type of error encountered" />
diff --git a/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml b/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml
index d783896b4853eac3afbc8e7ddf75cf141c2931a7..53e1c5438a06ca33e4418da3913a320673dc2514 100644
--- a/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml
+++ b/SRT/Configuration/CDB/alma/MINORSERVO/SRP/SRP.xml
@@ -28,7 +28,7 @@
<virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />
<virtual_user_offsets description="Sequence, virtual user axes offsets" />
<virtual_system_offsets description="Sequence, virtual system axes offsets" />
- <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+ <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
<in_use description="Boolean indicating whether the servo is in use in the current configuration" />
<current_setup description="The name of the current configuration" />
<error_code description="The type of error encountered" />
diff --git a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
index 6cd48ffbe58ef99d9bd1923e8bf2689062e8749f..1d6018ae4507e283dbea35a019cbef3e2b70523b 100644
--- a/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
+++ b/SRT/Interfaces/SRTMinorServoInterface/idl/SRTMinorServo.idl
@@ -31,9 +31,8 @@ module MinorServo
/**
* This property returns the latest virtual positions commanded with a preset command.
- * Offsets are not taken into account since they are added by the LDO system.
*/
- readonly attribute ACS::ROdoubleSeq commanded_virtual_positions;
+ readonly attribute ACS::ROdoubleSeq commanded_plain_virtual_positions;
/**
* This property indicates whether the servo is in use in the current configuration
diff --git a/SRT/Outdated/CDB/alma/MINORSERVO/PFP/PFP.xml b/SRT/Outdated/CDB/alma/MINORSERVO/PFP/PFP.xml
index 5503ee2fd943b7591bda5e05d2c3a118a987e09c..067ee1b189b116a0fc61adc88003c525da501c07 100644
--- a/SRT/Outdated/CDB/alma/MINORSERVO/PFP/PFP.xml
+++ b/SRT/Outdated/CDB/alma/MINORSERVO/PFP/PFP.xml
@@ -28,7 +28,7 @@
<virtual_offsets description="Sequence, sum of user and system virtual axis offsets" />
<virtual_user_offsets description="Sequence, virtual user axes offsets" />
<virtual_system_offsets description="Sequence, virtual system axes offsets" />
- <commanded_virtual_positions description="Sequence, latest commanded (via preset) virtual positions" />
+ <commanded_plain_virtual_positions description="Sequence, latest commanded plain virtual positions" />
<in_use description="Boolean indicating whether the servo is in use in the current configuration" />
<current_setup description="The name of the current configuration" />
<error_code description="The type of error encountered" />
diff --git a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd
index 34ec4318201e86f03a0b4734136a6aca74b3dd51..6ac34e2178a5bcb15bb1bb5488e65c8cc34fc29b 100644
--- a/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd
+++ b/SRT/Servers/SRTMinorServo/config/CDB/schemas/SRTMinorServo.xsd
@@ -51,7 +51,7 @@
<xs:sequence>
<xs:element name="virtual_user_offsets" type="baci:ROdoubleSeq" />
<xs:element name="virtual_system_offsets" type="baci:ROdoubleSeq" />
- <xs:element name="commanded_virtual_positions" type="baci:ROdoubleSeq" />
+ <xs:element name="commanded_plain_virtual_positions" type="baci:ROdoubleSeq" />
<xs:element name="in_use" type="mng:BooleanType" />
<xs:element name="current_setup" type="baci:ROstring" />
<xs:element name="error_code" type="ms:SRTMinorServoErrorType" />
diff --git a/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h b/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
index a664462c010fc810284a98ebaf5cbe5ea8f0a8fc..4304d05fb8a0ea8a869d2b5cf1e679b58c335eeb 100644
--- a/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
+++ b/SRT/Servers/SRTMinorServo/include/SRTMinorServoImpl.h
@@ -283,10 +283,10 @@ public:
virtual ACS::ROdoubleSeq_ptr virtual_system_offsets();
/**
- * Returns a reference to the commanded_virtual_positions property implementation of the IDL interface.
- * @return pointer to the read-only double sequence property commanded_virtual_positions.
+ * Returns a reference to the commanded_plain_virtual_positions property implementation of the IDL interface.
+ * @return pointer to the read-only double sequence property commanded_plain_virtual_positions.
*/
- virtual ACS::ROdoubleSeq_ptr commanded_virtual_positions();
+ virtual ACS::ROdoubleSeq_ptr commanded_plain_virtual_positions();
/**
* Returns a reference to the in_use property implementation of the IDL interface.
@@ -388,12 +388,12 @@ protected:
std::vector<double> m_system_offsets;
/**
- * Latest commanded virtual positions. It only takes into account the preset command.
+ * Latest commanded virtual positions.
*/
- std::vector<double> m_commanded_virtual_positions;
+ std::vector<double> m_commanded_plain_virtual_positions;
/**
- * Queue of positions assumed by the servo system in time.
+ * Queue of positions assumed by the servo system in time, they comprehend the LDO offsets.
*/
SRTMinorServoPositionsQueue m_positions_queue;
@@ -503,9 +503,9 @@ private:
baci::SmartPropertyPointer<baci::ROdoubleSeq> m_virtual_system_offsets_ptr;
/**
- * Pointer to the commanded_virtual_positions property.
+ * Pointer to the commanded_plain_virtual_positions property.
*/
- baci::SmartPropertyPointer<baci::ROdoubleSeq> m_commanded_virtual_positions_ptr;
+ baci::SmartPropertyPointer<baci::ROdoubleSeq> m_commanded_plain_virtual_positions_ptr;
/**
* Pointer to the in_use property.
@@ -584,7 +584,7 @@ protected:
virtual ACS::ROdoubleSeq_ptr virtual_offsets() { return SRTBaseMinorServoImpl::virtual_offsets(); }\
virtual ACS::ROdoubleSeq_ptr virtual_user_offsets() { return SRTBaseMinorServoImpl::virtual_user_offsets(); }\
virtual ACS::ROdoubleSeq_ptr virtual_system_offsets() { return SRTBaseMinorServoImpl::virtual_system_offsets(); }\
- virtual ACS::ROdoubleSeq_ptr commanded_virtual_positions() { return SRTBaseMinorServoImpl::commanded_virtual_positions(); }\
+ virtual ACS::ROdoubleSeq_ptr commanded_plain_virtual_positions() { return SRTBaseMinorServoImpl::commanded_plain_virtual_positions(); }\
virtual Management::ROTBoolean_ptr in_use() { return SRTBaseMinorServoImpl::in_use(); }\
virtual ACS::ROstring_ptr current_setup() { return SRTBaseMinorServoImpl::current_setup(); }\
virtual ROSRTMinorServoError_ptr error_code() { return SRTBaseMinorServoImpl::error_code(); }
diff --git a/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp b/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
index ce3eca5c2ced82f96efe2bb6eb92b2d84b9689c7..2e384ca0c805596b76b09d2872812be27b6fe09f 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTBaseMinorServoImpl.cpp
@@ -20,7 +20,7 @@ SRTBaseMinorServoImpl::SRTBaseMinorServoImpl(const ACE_CString& component_name,
m_error_code(ERROR_NO_ERROR),
m_user_offsets(m_virtual_axes, 0.0),
m_system_offsets(m_virtual_axes, 0.0),
- m_commanded_virtual_positions(m_virtual_axes, 0.0),
+ m_commanded_plain_virtual_positions(m_virtual_axes, 0.0),
m_positions_queue(5 * 60 * int(1 / getCDBValue<double>(container_services, "status_thread_period", "/MINORSERVO/Boss")), m_virtual_axes),
m_min(SRTBaseMinorServoImpl::getMotionConstant(*this, "min_range")),
m_max(SRTBaseMinorServoImpl::getMotionConstant(*this, "max_range")),
@@ -43,7 +43,7 @@ SRTBaseMinorServoImpl::SRTBaseMinorServoImpl(const ACE_CString& component_name,
m_virtual_offsets_ptr(this),
m_virtual_user_offsets_ptr(this),
m_virtual_system_offsets_ptr(this),
- m_commanded_virtual_positions_ptr(this),
+ m_commanded_plain_virtual_positions_ptr(this),
m_in_use_ptr(this),
m_current_setup_ptr(this),
m_error_code_ptr(this),
@@ -89,8 +89,8 @@ void SRTBaseMinorServoImpl::initialize()
new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_user_offsets), true);
m_virtual_system_offsets_ptr = new baci::ROdoubleSeq((m_component_name + ":virtual_system_offsets").c_str(), getComponent(),
new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_system_offsets), true);
- m_commanded_virtual_positions_ptr = new baci::ROdoubleSeq((m_component_name + ":commanded_virtual_positions").c_str(), getComponent(),
- new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_commanded_virtual_positions), true);
+ m_commanded_plain_virtual_positions_ptr = new baci::ROdoubleSeq((m_component_name + ":commanded_plain_virtual_positions").c_str(), getComponent(),
+ new MSGenericDevIO<ACS::doubleSeq, std::vector<double>>(m_commanded_plain_virtual_positions), true);
m_in_use_ptr = new ROEnumImpl<ACS_ENUM_T(Management::TBoolean), POA_Management::ROTBoolean>((m_component_name + ":in_use").c_str(), getComponent(),
new MSGenericDevIO<Management::TBoolean, std::atomic<Management::TBoolean>>(m_in_use), true);
m_current_setup_ptr = new baci::ROstring((m_component_name + ":current_setup").c_str(), getComponent(),
@@ -142,7 +142,7 @@ bool SRTBaseMinorServoImpl::status()
{
m_socket.sendCommand(SRTMinorServoCommandLibrary::status(m_servo_name), m_status);
- ACS::doubleSeq current_point = m_status.getVirtualPositions();
+ ACS::doubleSeq current_point = m_status.getPlainVirtualPositions();
// Calculate the current speed of the axes
try
@@ -215,8 +215,8 @@ void SRTBaseMinorServoImpl::preset(const ACS::doubleSeq& virtual_coords)
if(virtual_coordinates.length() == 0)
{
// It means we want to command the latest coordinates again, to apply the offset in the LDO servo system
- virtual_coordinates.length(m_commanded_virtual_positions.size());
- std::copy(m_commanded_virtual_positions.begin(), m_commanded_virtual_positions.end(), virtual_coordinates.begin());
+ virtual_coordinates.length(m_commanded_plain_virtual_positions.size());
+ std::copy(m_commanded_plain_virtual_positions.begin(), m_commanded_plain_virtual_positions.end(), virtual_coordinates.begin());
}
if(virtual_coordinates.length() != m_virtual_axes)
@@ -251,7 +251,7 @@ void SRTBaseMinorServoImpl::preset(const ACS::doubleSeq& virtual_coords)
throw ex.getMinorServoErrorsEx();
}
- std::copy(coordinates.begin(), coordinates.end(), m_commanded_virtual_positions.begin());
+ std::copy(coordinates.begin(), coordinates.end(), m_commanded_plain_virtual_positions.begin());
}
bool SRTBaseMinorServoImpl::setup(const char* configuration_name, CORBA::Boolean as_off)
@@ -353,7 +353,7 @@ bool SRTBaseMinorServoImpl::setup(const char* configuration_name, CORBA::Boolean
// The positions tables inside the Leonardo minor servo systems are calculated with an elevation of 45 degrees.
// We need to be sure the values are correct otherwise there will be a discrepancy.
ACS::doubleSeq commanded_coordinates = *calcCoordinates(45);
- std::copy(commanded_coordinates.begin(), commanded_coordinates.end(), m_commanded_virtual_positions.begin());
+ std::copy(commanded_coordinates.begin(), commanded_coordinates.end(), m_commanded_plain_virtual_positions.begin());
return true;
}
else
@@ -641,10 +641,24 @@ ACS::TimeInterval SRTBaseMinorServoImpl::getTravelTime(const ACS::doubleSeq& _s_
ACS::doubleSeq s_p(_s_p);
- // No starting coordinates, it means we have to start from the current position taking into account the current speed
+ if(d_p.length() != m_virtual_axes)
+ {
+ _EXCPT(MinorServoErrors::StatusErrorExImpl, ex, (m_servo_name + "getTravelTime()").c_str());
+ ex.setReason("Wrong number of axes for destination_position.");
+ ex.log(LM_DEBUG);
+ throw ex.getMinorServoErrorsEx();
+ }
+
+ // No starting coordinates, it means we have to start from the current position taking into account the current speed.
if(_s_p.length() == 0)
{
s_p = *getAxesPositions(0);
+
+ // Subtract the offsets since the destination coordinates are pure virtual
+ for(size_t i = 0; i < m_virtual_axes; i++)
+ {
+ s_p[i] -= m_user_offsets[i] + m_system_offsets[i];
+ }
}
else if(_s_p.length() != m_virtual_axes)
{
@@ -653,13 +667,6 @@ ACS::TimeInterval SRTBaseMinorServoImpl::getTravelTime(const ACS::doubleSeq& _s_
ex.log(LM_DEBUG);
throw ex.getMinorServoErrorsEx();
}
- if(d_p.length() != m_virtual_axes)
- {
- _EXCPT(MinorServoErrors::StatusErrorExImpl, ex, (m_servo_name + "getTravelTime()").c_str());
- ex.setReason("Wrong number of axes for destination_position.");
- ex.log(LM_DEBUG);
- throw ex.getMinorServoErrorsEx();
- }
// d = delta/distance
std::vector<double> d(m_virtual_axes);
@@ -891,7 +898,7 @@ GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_positi
GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_offsets_ptr, virtual_offsets);
GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_user_offsets_ptr, virtual_user_offsets);
GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_virtual_system_offsets_ptr, virtual_system_offsets);
-GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_commanded_virtual_positions_ptr, commanded_virtual_positions);
+GET_PROPERTY_REFERENCE(ACS::ROdoubleSeq, SRTBaseMinorServoImpl, m_commanded_plain_virtual_positions_ptr, commanded_plain_virtual_positions);
GET_PROPERTY_REFERENCE(Management::ROTBoolean, SRTBaseMinorServoImpl, m_in_use_ptr, in_use);
GET_PROPERTY_REFERENCE(ACS::ROstring, SRTBaseMinorServoImpl, m_current_setup_ptr, current_setup);
GET_PROPERTY_REFERENCE(ROSRTMinorServoError, SRTBaseMinorServoImpl, m_error_code_ptr, error_code);
diff --git a/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp b/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
index 925881a89c035f9acab68fbd919400d9492af788..ec4bfdadaeb515808db919f77e3ea1a77ae8c470 100644
--- a/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
+++ b/SRT/Servers/SRTMinorServo/src/SRTProgramTrackMinorServoImpl.cpp
@@ -55,7 +55,7 @@ bool SRTProgramTrackMinorServoImpl::status()
{
bool status = SRTBaseMinorServoImpl::status();
- ACS::doubleSeq virtual_positions = m_status.getVirtualPositions();
+ ACS::doubleSeq virtual_positions = m_status.getPlainVirtualPositions();
std::vector<double> commanded_positions;
SRTMinorServoOperativeMode operative_mode = m_status.getOperativeMode();
@@ -69,6 +69,7 @@ bool SRTProgramTrackMinorServoImpl::status()
// The tracking timestamp is interpolated instead
std::pair<ACS::Time, std::vector<double>> tracking_point = m_tracking_queue.get(last_timestamp);
commanded_positions = tracking_point.second;
+ m_commanded_plain_virtual_positions = commanded_positions;
m_remaining_trajectory_points.store(m_tracking_queue.getRemainingPoints(last_timestamp));
@@ -92,7 +93,11 @@ bool SRTProgramTrackMinorServoImpl::status()
}
else if(operative_mode == OPERATIVE_MODE_SETUP || operative_mode == OPERATIVE_MODE_PRESET)
{
- commanded_positions = m_commanded_virtual_positions;
+ commanded_positions = m_commanded_plain_virtual_positions;
+ for(size_t i = 0; i < m_virtual_axes; i++)
+ {
+ commanded_positions[i] += m_user_offsets[i] + m_system_offsets[i];
+ }
}
else
{
@@ -149,11 +154,12 @@ void SRTProgramTrackMinorServoImpl::programTrack(CORBA::Long trajectory_id, CORB
std::vector<double> coordinates(virtual_coordinates.get_buffer(), virtual_coordinates.get_buffer() + virtual_coordinates.length());
ACS::doubleSeq offsets = m_status.getVirtualOffsets();
+ std::vector<double> coordinates_and_offsets = coordinates;
for(size_t i = 0; i < m_virtual_axes; i++)
{
- double coordinate = coordinates[i] + offsets[i];
- if(coordinate < m_min[i] || coordinate > m_max[i])
+ coordinates_and_offsets[i] += offsets[i];
+ if(coordinates_and_offsets[i] < m_min[i] || coordinates_and_offsets[i] > m_max[i])
{
_EXCPT(MinorServoErrors::TrackingErrorExImpl, ex, (m_servo_name + "::programTrack()").c_str());
ex.addData("Reason", "Resulting position out of range, check the offsets!");
@@ -178,7 +184,7 @@ void SRTProgramTrackMinorServoImpl::programTrack(CORBA::Long trajectory_id, CORB
// Clear the tracking queue to avoid interpolation between 2 different trajectories
m_tracking_queue.clear();
}
- m_tracking_queue.put(point_time, coordinates);
+ m_tracking_queue.put(point_time, coordinates_and_offsets);
}