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INAF
DISCOS
Commits
fc2c1f1b
Commit
fc2c1f1b
authored
5 months ago
by
Giuseppe Carboni
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Bypassed gregorian cover closing when parking the minor servos
parent
864f5afa
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SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
+3
-2
3 additions, 2 deletions
SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp
+3
-1
3 additions, 1 deletion
SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp
with
6 additions
and
3 deletions
SRT/Servers/SRTMinorServo/src/SRTMinorServoBossCore.cpp
+
3
−
2
View file @
fc2c1f1b
...
@@ -357,7 +357,8 @@ void SRTMinorServoBossCore::park()
...
@@ -357,7 +357,8 @@ void SRTMinorServoBossCore::park()
m_current_servos
.
clear
();
m_current_servos
.
clear
();
m_current_tracking_servos
.
clear
();
m_current_tracking_servos
.
clear
();
try
// Skipping this because of the cover not always engaging the limit switch
/*try
{
{
// Send the STOW command to close the gregorian cover
// Send the STOW command to close the gregorian cover
if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", COVER_STATUS_CLOSED)).checkOutput())
if(!m_socket.sendCommand(SRTMinorServoCommandLibrary::stow("GREGORIAN_CAP", COVER_STATUS_CLOSED)).checkOutput())
...
@@ -376,7 +377,7 @@ void SRTMinorServoBossCore::park()
...
@@ -376,7 +377,7 @@ void SRTMinorServoBossCore::park()
ex.setReason("Error while sending the STOW command to the gregorian cover.");
ex.setReason("Error while sending the STOW command to the gregorian cover.");
ex.log(LM_DEBUG);
ex.log(LM_DEBUG);
throw ex.getParkingErrorEx();
throw ex.getParkingErrorEx();
}
}
*/
// Send the STOP command to all the servos
// Send the STOP command to all the servos
for
(
const
auto
&
[
servo_name
,
servo
]
:
m_servos
)
for
(
const
auto
&
[
servo_name
,
servo
]
:
m_servos
)
...
...
This diff is collapsed.
Click to expand it.
SRT/Servers/SRTMinorServo/src/SRTMinorServoParkThread.cpp
+
3
−
1
View file @
fc2c1f1b
...
@@ -60,7 +60,9 @@ void SRTMinorServoParkThread::runLoop()
...
@@ -60,7 +60,9 @@ void SRTMinorServoParkThread::runLoop()
case
0
:
case
0
:
{
{
// First we check if the gregorian cover has closed
// First we check if the gregorian cover has closed
bool
completed
=
m_core
.
m_status
.
getGregorianCoverPosition
()
==
COVER_STATUS_CLOSED
;
// TEMPORARY: we skip the gregorian cover closing, therefore we don't check
//bool completed = m_core.m_status.getGregorianCoverPosition() == COVER_STATUS_CLOSED;
bool
completed
=
true
;
// Then we cycle through all the servos and make sure their operative mode is STOP
// Then we cycle through all the servos and make sure their operative mode is STOP
if
(
completed
&&
std
::
all_of
(
m_core
.
m_servos
.
begin
(),
m_core
.
m_servos
.
end
(),
[](
const
std
::
pair
<
std
::
string
,
SRTBaseMinorServo_ptr
>&
servo
)
->
bool
if
(
completed
&&
std
::
all_of
(
m_core
.
m_servos
.
begin
(),
m_core
.
m_servos
.
end
(),
[](
const
std
::
pair
<
std
::
string
,
SRTBaseMinorServo_ptr
>&
servo
)
->
bool
...
...
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