fix issue #655: feature implemented but a test is required before merging into the repository

CHANGELOG.md

@@ -97,6 +97,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/
 
 ## [next release]
 ## Added
+    issue 655 - ACU Component for Noto and Medicina is now capble to prevent seldom mode changes coming from ACU reset
 ## Fixed
     issue #448 - Added Sky Offsets to calibration tool client
     issue #585 - Fixed misshandled schedule with NULL as backend (Dry Run)

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

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

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

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

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

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

Medicina/Servers/MedicinaMount/include/Configuration.h

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

Medicina/Servers/MedicinaMount/include/MedicinaMountSocket.h

@@ -447,10 +447,22 @@ public:
 	 * 1) if the tracking error is beyond a threashold an alarm condition is triggered.  This condition has a certain validity time.
 	 * 2) If more than a number of direction changes (of the tracking error with respect to the zero error) are detected during the alarm time window, the oscillation is declared-
 	 * 3) The alarm condition is cleared if the time validity window of the alarm elapsed and the tracking error is again under the threshold.
-	 * In case of detection counter mesures are immediately taken.
+	 * In case of detection counter measures are immediately taken.
 	 */
 	void detectOscillation() throw (AntennaErrors::ConnectionExImpl,ComponentErrors::SocketErrorExImpl,ComponentErrors::TimeoutExImpl,AntennaErrors::NakExImpl,AntennaErrors::AntennaBusyExImpl);
 
+	/**
+	 * This method has been added to detect the event the ACU mode differs from previously commanded. In case it tries to
+	 * recover from this event by commandind the correct mode.
+	 * @throw AntennaErrors::ConnectionExImpl
+	 * @throw ComponentErrors::SocketErrorExImpl
+	 * @throw ComponentErrors::TimeoutExImpl
+	 * @throw AntennaErrors::NakExImpl
+	 * @throwAntennaErrors::AntennaBusyExImpl
+	*/
+	void checkCommandedMode() throw (AntennaErrors::ConnectionExImpl,ComponentErrors::SocketErrorExImpl,
+	  ComponentErrors::TimeoutExImpl,AntennaErrors::NakExImpl,AntennaErrors::AntennaBusyExImpl);
+
 	/** 
 	 * This member function is used by the control thread in order to check if a long job that was started as completed or not.
 	 * @param job job identifier
@@ -607,6 +619,11 @@ private:
 	 */
 	CACUInterface::TAxeModes m_oscMode;
 	
+	/**
+	 * this flag indicates that a recovery from mode check in ongoing.....
+	 */	
+	bool m_modeCheckRecover;	
+	
 	/**
 	 * Stores the epoch of the last scan. Used in oscillation prevention
 	 */

Medicina/Servers/MedicinaMount/src/Configuration.cpp

@@ -66,6 +66,11 @@ void CConfiguration::Init(maci::ContainerServices *Services) throw (ComponentErr
 	_GET_DOUBLE_ATTRIBUTE("cw_ccw_limit","CW/CCW limit (degrees):",m_cwLimit,"DataBlock/Mount");
 	
 	_GET_STRING_ATTRIBUTE("CheckOscillation","Check oscillation during tracking: ",check,"");
+	m_checkOsc=(check=="TRUE");
+	
+	_GET_STRING_ATTRIBUTE("CheckMode","Check ACU mode enabled: ",check,"");
+	m_checkMode=(check=="TRUE");
+	
 	_GET_DOUBLE_ATTRIBUTE("OscillationThreshold","Oscillation theshold (deg):",m_doscThreashold,"");
 	_GET_DWORD_ATTRIBUTE("OscillationAlarmDuration","Oscillation alarm duration (uSec):",m_dwoscAlarmDuration,"");
 	_GET_DWORD_ATTRIBUTE("OscillationNumberThreshold","Oscillation number threashold:",m_dwoscNumberThreshold,"");
@@ -74,5 +79,5 @@ void CConfiguration::Init(maci::ContainerServices *Services) throw (ComponentErr
 	m_dwoscRecoverTime*=10;
 	m_dwcontrolThreadPeriod*=10;
 	check.MakeUpper();
-	m_checkOsc=(check=="TRUE");
+	
 }

Medicina/Servers/MedicinaMount/src/MedicinaMountSocket.cpp

@@ -130,6 +130,7 @@ void CMedicinaMountSocket::Init(CConfiguration *config,maci::ContainerServices *
 	m_oscStopTime=0;
 	m_oscMode=CACUInterface::STANDBY;
 	m_lastScanEpoch=0;
+	m_modeCheckRecover=false;
 }
 
 CACUInterface::TAxeModes CMedicinaMountSocket::getAzimuthMode() throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl)
@@ -587,8 +588,11 @@ void CMedicinaMountSocket::Mode(CACUInterface::TAxeModes azMode,CACUInterface::T
 	TIMEVALUE now;
 	IRA::CIRATools::getTime(now);
 	m_Data.setLastCommandedMode(azMode); 
+	if (!m_modeCheckRecover) { // need to keep current offsets in case a recovery procedure is ongoing.....
 		m_Data.setAzimuthOffset(0.0);
 		m_Data.setElevationOffset(0.0);
+		m_modeCheckRecover=false;
+	}
 	m_lastScanEpoch=now.value().value;
 }
 
@@ -844,6 +848,25 @@ double CMedicinaMountSocket::getHWAzimuth(double destination,const CACUInterface
 	return CIRATools::getHWAzimuth(pos,dest,m_configuration->azimuthLowerLimit(),m_configuration->azimuthUpperLimit(),section,m_configuration->cwLimit());
 }
 
+void CMedicinaMountSocket::checkCommandedMode() throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl,AntennaErrors::NakExImpl,AntennaBusyExImpl)
+{
+	CACUInterface::TAxeModes commandedMode, mode;
+	if (!m_configuration->checkForMode()) return;
+	commandedMode=m_Data.getLastCommandedMode();
+	if ((commandedMode!=CACUInterface::STANDBY)  && (commandedMode!=CACUInterface::UNSTOW) &&
+	  (commandedMode!=CACUInterface::STOW) && (commandedMode!=CACUInterface::STOP)) {
+	  	mode=getAzimuthMode(); // throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl)
+	  	if ((mode!=CACUInterface::UNKNOWN)) {
+	  		if ((commandedMode!=mode)) {
+	  			CUSTOM_LOG(LM_FULL_INFO,"CMedicinaMountSocket::checkCommandedMode()",
+	  			  (LM_WARNING,"ACU operation mode differs from commanded one, trying to recover..."));
+	  			m_modeCheckRecover=true;
+	  			Mode(commandedMode,commandedMode);
+	  		}
+	  	}
+	}
+}
+
 void CMedicinaMountSocket::detectOscillation() throw (ConnectionExImpl,SocketErrorExImpl,TimeoutExImpl,AntennaErrors::NakExImpl,AntennaBusyExImpl)
 {
 	TIMEVALUE now;

Medicina/Servers/MedicinaMount/src/MedicinaMountThread.cpp

@@ -51,6 +51,7 @@ void CMedicinaMountControlThread::runLoop()
 	CSecAreaResourceWrapper<CMedicinaMountSocket> socket=m_pACUControl->Get();
 	socket->updateComponent();  // before commenting out or deleting consider that inside this method the flushing of pending event of the log dike object is called
 	socket->detectOscillation();
+	socket->checkCommandedMode();
 	if (currentJobID!=0) {
 		ACSErr::Completion_var comp;
 		if (socket->updateLongJobs(currentJobID,comp.out())) {

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

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

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

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