Upgraded minor_servos with setup table

setup.py

@@ -13,4 +13,8 @@
         'Operating System :: OS Independent',
         'Programming Language :: Python :: 3.10.7',
     ],
+    include_package_data=True,
+    package_data={
+        'simulators': ['minor_servos/setup.csv']
+    }
 )

simulators/minor_servos/__init__.py

@@ -17,6 +17,7 @@
 from bisect import bisect_left
 from socketserver import ThreadingTCPServer
 from simulators.common import ListeningSystem
+from simulators.minor_servos.helpers import setup_import
 
 
 # Each system module (like active_surface.py, acu.py, etc.) has to
@@ -96,6 +97,10 @@ def __init__(self, timer_value=DEFAULT_TIMER_VALUE):
             'DR_GFR3': Derotator('GFR3'),
             'DR_PFP': Derotator('PFP'),
         }
+        setup_import(
+            list(self.servos.keys()) + ['GREGORIAN_CAP'],
+            self.configurations
+        )
         self.stop = Value(c_bool, False)
         self.update_thread = Thread(
             target=self._update,
@@ -184,8 +189,10 @@ def _setup(self, args):
         configuration = args[0]
         if configuration not in self.configurations:
             return self.bad
-        self.configuration = self.configurations.get(configuration)['ID']
-        for _, servo in self.servos.items():
+        configuration = self.configurations.get(configuration)
+        self.configuration = configuration['ID']
+        for servo_name, servo in self.servos.items():
+            coordinates = configuration[servo_name]
             servo.operative_mode_timer.cancel()
             _change_atomic_value(servo.operative_mode, 0)
             servo.operative_mode_timer = Timer(
@@ -195,8 +202,10 @@ def _setup(self, args):
             )
             servo.operative_mode_timer.daemon = True
             servo.operative_mode_timer.start()
-        gregorian_cap_position = 1 if self.configuration == 1 else 2
-        if self.gregorian_cap.value != gregorian_cap_position:
+            servo.set_coords(coordinates)
+        gregorian_cap_position = configuration['GREGORIAN_CAP'][0]
+        if (gregorian_cap_position
+                and self.gregorian_cap.value != gregorian_cap_position):
             _change_atomic_value(self.gregorian_cap, 0)
             self.cover_timer = Timer(
                 self.timer_value,
@@ -488,7 +497,9 @@ def get_status(self, now):
 
     def set_coords(self, coords):
         for index, value in enumerate(coords):
-            self.coords[index] = value
+            if not value:
+                continue
+            self.coords[index] = value + self.offsets[index]
 
     def set_offsets(self, coords):
         for index, value in enumerate(coords):

simulators/minor_servos/helpers.py

@@ -0,0 +1,42 @@
+import os
+import csv
+import pkg_resources
+
+
+def setup_import(servos, configurations):
+    filename = os.environ.get('ACS_CDB', '/')
+    filename = os.path.join(
+        filename,
+        'CDB',
+        'alma',
+        'DataBlock',
+        'MinorServo',
+        'Tabella Setup.csv'
+    )
+    if not os.path.exists(filename):
+        filename = pkg_resources.resource_filename(
+            'simulators',
+            'minor_servos/setup.csv'
+        )
+    with open(filename, 'r', encoding='utf-8') as csvfile:
+        reader = csv.reader(csvfile)
+        indexes = {}
+        for line in reader:
+            if not indexes:
+                for servo in servos:
+                    temp = [e for e in line if e.startswith(servo)]
+                    indexes[servo] = [line.index(e) for e in temp]
+                continue
+            for servo, servo_indexes in indexes.items():
+                coordinates = []
+                for index in servo_indexes:
+                    coord = line[index].replace(';', '')
+                    try:
+                        if servo == 'GREGORIAN_CAP':
+                            coord = int(coord)
+                        else:
+                            coord = float(coord)
+                    except ValueError:
+                        coord = None
+                    coordinates.append(coord)
+                configurations[line[0]][servo] = coordinates

simulators/minor_servos/setup.csv

@@ -0,0 +1,14 @@
+CONFIGURATION,PFP_TX,PFP_TZ,PFP_RTHETA,SRP_TX,SRP_TY,SRP_TZ,SRP_RX,SRP_RY,SRP_RZ,M3R_RZ,GFR_RZ,DR_GFR1,DR_GFR2,DR_GFR3,DR_PFP,GREGORIAN_CAP;
+Primario,0,0,0,-5,5,-120,0,0,0,*,*,*,*,*,*,1;
+Gregoriano1,0,0,0,-1.5,11.1393650793988,1.08830677049999,0.049894179898239,-0.036111111111111,0,*,-88.70659,*,*,*,*,2;
+Gregoriano2,0,0,0,-1.5,11.1393650793988,1.08830677049999,0.049894179898239,-0.036111111111111,0,*,-159.8899,*,*,*,*,2;
+Gregoriano3,0,0,0,-1.5,11.1393650793988,1.08830677049999,0.049894179898239,-0.036111111111111,0,*,90.97161,*,*,*,*,2;
+Gregoriano4,0,0,0,-1.5,11.1393650793988,1.08830677049999,0.049894179898239,-0.036111111111111,0,*,162.771,*,*,*,*,2;
+Gregoriano5,0,0,0,-1.5,11.1393650793988,1.08830677049999,0.049894179898239,-0.036111111111111,0,*,55.373967,*,*,*,*,2;
+Gregoriano6,0,0,0,-1.5,11.1393650793988,1.08830677049999,0.049894179898239,-0.036111111111111,0,*,-51.82117,*,*,*,*,2;
+Gregoriano7,0,0,0,*,*,*,*,*,*,*,*,*,*,*,*,*;
+Gregoriano8,0,0,0,*,*,*,*,*,*,*,*,*,*,*,*,*;
+BWG1,0,0,0,-1.5,11.1393650793988,0.358165166130078,0.049894179898239,-0.036111111111111,0,10,0,*,*,*,*,2;
+BWG2,0,0,0,*,*,*,*,*,*,*,*,*,*,*,*,*;
+BWG3,0,0,0,-1.5,11.1393650793988,-3.77159716192807,0.049894179898239,-0.036111111111111,0,20,0,*,*,*,*,2;
+BWG4,0,0,0,*,*,*,*,*,*,*,*,*,*,*,*,*;