src/PseudoAxisAdapter.cpp

   1 #include "TangoHKLAdapter.h"
   2 #include "PseudoAxisAdapter.h"
   3
   4 namespace DiffractometerDevice_ns
   5 {
   6
   7         PseudoAxisAdapter::PseudoAxisAdapter(TangoHKLAdapter &hklAdapter, HklPseudoAxis *pseudo_r, HklPseudoAxis *pseudo_w):
   8                 _hklAdapter(hklAdapter),
   9                 _pseudo_r(pseudo_r),
  10                 _pseudo_w(pseudo_w)
  11         {
  12                 size_t len;
  13                 size_t i, j;
  14                 char const **names;
  15                 std::vector<AxisAdapter> &axes = hklAdapter.get_axes();
  16
  17                 _ready = false;
  18                 _state = Tango::UNKNOWN;
  19                 _group = NULL;
  20
  21                 _axes.clear();
  22                 len = HKL_LIST_LEN(_pseudo_r->engine->mode->axes_names);
  23                 names = _pseudo_r->engine->mode->axes_names;
  24                 for(i=0; i<len; ++i)
  25                         for(j=0; j<axes.size(); ++j){
  26                                 AxisAdapter & axis = axes[j];
  27                                 if(axis.get_name() == names[i]) {
  28                                         _axes.push_back(&axis);
  29                                         continue;
  30                                 }
  31                         }
  32         }
  33
  34         PseudoAxisAdapter::~PseudoAxisAdapter(void)
  35         {
  36                 if(_group){
  37                         _group->remove_all();
  38                         delete _group;
  39                         _group = NULL;
  40                 }
  41         }
  42
  43         void PseudoAxisAdapter::update(void)
  44         {
  45                 HklDiffractometer *diffractometer = _hklAdapter.diffractometer();
  46
  47                 _read = hkl_parameter_get_value_unit((HklParameter *)_pseudo_r);
  48                 _write = hkl_parameter_get_value_unit((HklParameter *)_pseudo_w);
  49
  50                 // the internal part
  51                 if(!diffractometer || !diffractometer->samples){
  52                         _state = Tango::FAULT;
  53                         _status = "Internal Error";
  54                         return;
  55                 }
  56
  57                 // the sample part
  58                 if(!diffractometer->samples->current){
  59                         _state = Tango::FAULT;
  60                         _status = "Sample not set";
  61                         return;
  62                 }
  63
  64                 // now compute the state ans status of the pseudo axes.
  65                 _state = Tango::STANDBY;
  66                 std::string extra_status;
  67
  68                 _status = "REAL Mode: Motors will REALLY move.";
  69                 if (!this->is_ready()) {
  70                         _state = Tango::FAULT;
  71                         extra_status = "\nCan not connect to axes proxies";
  72                 } else {
  73                         for(size_t i=0;i<_axes.size();++i) {
  74                                 AxisAdapter const * axis = _axes[i];
  75                                 ::compose_state(_state, axis->get_state());
  76                                 if (axis->get_state() != Tango::STANDBY)
  77                                         extra_status += "\n" + axis->get_device_name() + " is in " + Tango::DevStateName[axis->get_state()];
  78                         }
  79                 }
  80                 extra_status += "\nPseudoAxe status: ";
  81                 extra_status += Tango::DevStateName[_state];
  82                 _status += extra_status;
  83         }
  84
  85         void PseudoAxisAdapter::to_proxies(void)
  86         {
  87                 if(this->is_ready()){
  88                         long len = _axes.size();
  89                         std::vector<double> values(len);
  90
  91                         for (long i=0; i<len; ++i) {
  92                                 _axes[i]->from_HklAxis();
  93                                 values[i] = _axes[i]->get_write_real();
  94                                 _axes[i]->set_state(Tango::MOVING);
  95                         }
  96
  97 #ifdef WRITE_TO_PROXY_ALLOWED
  98                         // Launch in one time
  99                         try
 100                         {
 101                                 _group->command_inout(AXIS_COMMAND_STOP_NAME);
 102                                 _group->write_attribute(AXIS_ATTRIBUTE_POSITION_NAME, values, true);
 103                         }
 104                         catch(...)
 105                         {
 106                                 //TODO remove this try catch when tango group will be updated
 107                         }
 108 #endif
 109                 }
 110         }
 111
 112         bool PseudoAxisAdapter::is_ready(void)
 113         {
 114                 if(!_ready){
 115                         size_t i;
 116
 117                         for(i=0; i<_axes.size(); ++i)
 118                                 if(!_axes[i]->is_ready())
 119                                         return _ready;
 120                         _ready = true;
 121                         //create the _group
 122                         _group = new Tango::Group("tmp");
 123                         if(_group)
 124                                 for(i=0; i<_axes.size(); ++i)
 125                                         _group->add(_axes[i]->get_device_name());
 126                 }
 127                 return _ready;
 128         }
 129 }