src/PseudoAxes/PseudoAxes.cpp

   1 static const char *RcsId = "$Header:  $";
   2 //+=============================================================================
   3 //
   4 // file :         PseudoAxes.cpp
   5 //
   6 // description :  C++ source for the PseudoAxes and its commands.
   7 //                The class is derived from Device. It represents the
   8 //                CORBA servant object which will be accessed from the
   9 //                network. All commands which can be executed on the
  10 //                PseudoAxes are implemented in this file.
  11 //
  12 // project :      TANGO Device Server
  13 //
  14 // $Author:  $
  15 //
  16 // $Revision:  $
  17 //
  18 // $Log:  $
  19 //
  20 // copyleft :     European Synchrotron Radiation Facility
  21 //                BP 220, Grenoble 38043
  22 //                FRANCE
  23 //
  24 //-=============================================================================
  25 //
  26 //              This file is generated by POGO
  27 //      (Program Obviously used to Generate tango Object)
  28 //
  29 //         (c) - Software Engineering Group - ESRF
  30 //=============================================================================
  31
  32
  33
  34 //===================================================================
  35 //
  36 //      The following table gives the correspondence
  37 //      between commands and method name.
  38 //
  39 //  Command name|  Method name
  40 //      ----------------------------------------
  41 //  State     |  dev_state()
  42 //  Status    |  dev_status()
  43 //  AxisInit  |  axis_init()
  44 //
  45 //===================================================================
  46
  47
  48 #include <tango.h>
  49 #include <PseudoAxes.h>
  50 #include <PseudoAxesClass.h>
  51
  52 #include "TangoHKLAdapterFactory.h"
  53
  54 namespace PseudoAxes_ns
  55 {
  56
  57 //+----------------------------------------------------------------------------
  58 //
  59 // method :             PseudoAxes::PseudoAxes(string &s)
  60 //
  61 // description :        constructor for simulated PseudoAxes
  62 //
  63 // in : - cl : Pointer to the DeviceClass object
  64 //      - s : Device name
  65 //
  66 //-----------------------------------------------------------------------------
  67 PseudoAxes::PseudoAxes(Tango::DeviceClass *cl,string &s)
  68 :Tango::Device_3Impl(cl,s.c_str())
  69 {
  70         init_device();
  71 }
  72
  73 PseudoAxes::PseudoAxes(Tango::DeviceClass *cl,const char *s)
  74 :Tango::Device_3Impl(cl,s)
  75 {
  76         init_device();
  77 }
  78
  79 PseudoAxes::PseudoAxes(Tango::DeviceClass *cl,const char *s,const char *d)
  80 :Tango::Device_3Impl(cl,s,d)
  81 {
  82         init_device();
  83 }
  84 //+----------------------------------------------------------------------------
  85 //
  86 // method :             PseudoAxes::delete_device()
  87 //
  88 // description :        will be called at device destruction or at init command.
  89 //
  90 //-----------------------------------------------------------------------------
  91 void PseudoAxes::delete_device()
  92 {
  93         //      Delete device's allocated object
  94
  95         if(_adapter){
  96                 _adapter->save();
  97                 _adapter->remove_dynamic_attributes();
  98                 _adapter = NULL;
  99         }
 100         _hklAdapter = NULL;
 101 }
 102
 103 //+----------------------------------------------------------------------------
 104 //
 105 // method :             PseudoAxes::init_device()
 106 //
 107 // description :        will be called at device initialization.
 108 //
 109 //-----------------------------------------------------------------------------
 110 void PseudoAxes::init_device()
 111 {
 112         INFO_STREAM << "PseudoAxes::PseudoAxes() create device " << device_name << endl;
 113
 114         // Initialise variables to default values
 115         //--------------------------------------------
 116         get_device_property();
 117
 118         _adapter = NULL;
 119         _hklAdapter = NULL;
 120
 121         config.state = Tango::FAULT;
 122         config.status = "Not yet initialized";
 123         config.initialized = false;
 124         config.mode = NULL;
 125
 126         // we can get the Diffractometer device adapter in the init as this one start all PseudoAxes
 127         if(!_hklAdapter)
 128                 _hklAdapter = Diffractometer_ns::TangoHKLAdapterFactory::instance()->get_diffractometer_adapter(diffractometerProxy);
 129
 130         if(_hklAdapter && !_adapter){
 131                 _adapter = _hklAdapter->pseudo_axes_adapter_get_by_name(engineName);
 132                 if(_adapter){
 133                         _adapter->set_device(this);
 134                         _adapter->add_dynamic_attributes();
 135                         _adapter->load();
 136                 }
 137         }
 138 }
 139
 140
 141 //+----------------------------------------------------------------------------
 142 //
 143 // method :             PseudoAxes::get_device_property()
 144 //
 145 // description :        Read the device properties from database.
 146 //
 147 //-----------------------------------------------------------------------------
 148 void PseudoAxes::get_device_property()
 149 {
 150         //      Initialize your default values here (if not done with  POGO).
 151         //------------------------------------------------------------------
 152
 153         //      Read device properties from database.(Automatic code generation)
 154         //------------------------------------------------------------------
 155         Tango::DbData   dev_prop;
 156         dev_prop.push_back(Tango::DbDatum("DiffractometerProxy"));
 157         dev_prop.push_back(Tango::DbDatum("EngineName"));
 158
 159         //      Call database and extract values
 160         //--------------------------------------------
 161         if (Tango::Util::instance()->_UseDb==true)
 162                 get_db_device()->get_property(dev_prop);
 163         Tango::DbDatum  def_prop, cl_prop;
 164         PseudoAxesClass *ds_class =
 165                 (static_cast<PseudoAxesClass *>(get_device_class()));
 166         int     i = -1;
 167
 168         //      Try to initialize DiffractometerProxy from class property
 169         cl_prop = ds_class->get_class_property(dev_prop[++i].name);
 170         if (cl_prop.is_empty()==false)  cl_prop  >>  diffractometerProxy;
 171         else {
 172                 //      Try to initialize DiffractometerProxy from default device value
 173                 def_prop = ds_class->get_default_device_property(dev_prop[i].name);
 174                 if (def_prop.is_empty()==false) def_prop  >>  diffractometerProxy;
 175         }
 176         //      And try to extract DiffractometerProxy value from database
 177         if (dev_prop[i].is_empty()==false)      dev_prop[i]  >>  diffractometerProxy;
 178
 179         //      Try to initialize EngineName from class property
 180         cl_prop = ds_class->get_class_property(dev_prop[++i].name);
 181         if (cl_prop.is_empty()==false)  cl_prop  >>  engineName;
 182         else {
 183                 //      Try to initialize EngineName from default device value
 184                 def_prop = ds_class->get_default_device_property(dev_prop[i].name);
 185                 if (def_prop.is_empty()==false) def_prop  >>  engineName;
 186         }
 187         //      And try to extract EngineName value from database
 188         if (dev_prop[i].is_empty()==false)      dev_prop[i]  >>  engineName;
 189
 190
 191
 192         //      End of Automatic code generation
 193         //------------------------------------------------------------------
 194
 195 }
 196 //+----------------------------------------------------------------------------
 197 //
 198 // method :             PseudoAxes::always_executed_hook()
 199 //
 200 // description :        method always executed before any command is executed
 201 //
 202 //-----------------------------------------------------------------------------
 203 void PseudoAxes::always_executed_hook()
 204 {
 205         if(!_hklAdapter)
 206                 _hklAdapter = Diffractometer_ns::TangoHKLAdapterFactory::instance()->get_diffractometer_adapter(diffractometerProxy);
 207
 208         if(_hklAdapter && !_adapter)
 209                 _adapter = _hklAdapter->pseudo_axes_adapter_get_by_name(engineName);
 210 }
 211
 212 //+----------------------------------------------------------------------------
 213 //
 214 // method :             PseudoAxes::read_attr_hardware
 215 //
 216 // description :        Hardware acquisition for attributes.
 217 //
 218 //-----------------------------------------------------------------------------
 219 void PseudoAxes::read_attr_hardware(vector<long> &attr_list)
 220 {
 221         DEBUG_STREAM << "PseudoAxes::read_attr_hardware(vector<long> &attr_list) entering... "<< endl;
 222         //      Add your own code here
 223         if(_adapter)
 224                 config = _adapter->get_config();
 225 }
 226 //+----------------------------------------------------------------------------
 227 //
 228 // method :             PseudoAxes::read_initialized
 229 //
 230 // description :        Extract real attribute values for initialized acquisition result.
 231 //
 232 //-----------------------------------------------------------------------------
 233 void PseudoAxes::read_initialized(Tango::Attribute &attr)
 234 {
 235         DEBUG_STREAM << "PseudoAxes::read_initialized(Tango::Attribute &attr) entering... "<< endl;
 236         if(_adapter)
 237                 attr.set_value(&config.initialized);
 238 }
 239
 240 //+----------------------------------------------------------------------------
 241 //
 242 // method :             PseudoAxes::write_initialized
 243 //
 244 // description :        Write initialized attribute values to hardware.
 245 //
 246 //-----------------------------------------------------------------------------
 247 void PseudoAxes::write_initialized(Tango::WAttribute &attr)
 248 {
 249         DEBUG_STREAM << "PseudoAxes::write_initialized(Tango::WAttribute &attr) entering... "<< endl;
 250
 251         if(_adapter){
 252                 Tango::DevBoolean initialized;
 253                 attr.get_write_value(initialized);
 254                 _adapter->set_initialized(initialized);
 255         }
 256 }
 257
 258 //+----------------------------------------------------------------------------
 259 //
 260 // method :             PseudoAxes::read_parameters
 261 //
 262 // description :        Extract real attribute values for parameters acquisition result.
 263 //
 264 //-----------------------------------------------------------------------------
 265 void PseudoAxes::read_parameters(Tango::Attribute &attr)
 266 {
 267         DEBUG_STREAM << "PseudoAxes::read_parameters(Tango::Attribute &attr) entering... "<< endl;
 268
 269         if(_adapter){
 270                 Matrix<double> const & img = config.parameters;
 271                 attr.set_value(img.data, img.xdim);
 272         }
 273 }
 274
 275 //+----------------------------------------------------------------------------
 276 //
 277 // method :             PseudoAxes::write_parameters
 278 //
 279 // description :        Write parameters attribute values to hardware.
 280 //
 281 //-----------------------------------------------------------------------------
 282 void PseudoAxes::write_parameters(Tango::WAttribute &attr)
 283 {
 284         DEBUG_STREAM << "PseudoAxes::write_parameters(Tango::WAttribute &attr) entering... "<< endl;
 285
 286         if(_adapter){
 287                 const Tango::DevDouble *values;
 288                 attr.get_write_value(values);
 289                 Matrix<double> img;
 290                 img.attach_to_const_buffer(values,
 291                                            attr.get_w_dim_x(), attr.get_w_dim_y());
 292
 293                 _adapter->set_parameters(img);
 294         }
 295 }
 296
 297 //+----------------------------------------------------------------------------
 298 //
 299 // method :             PseudoAxes::read_pseudoAxisNames
 300 //
 301 // description :        Extract real attribute values for pseudoAxisNames acquisition result.
 302 //
 303 //-----------------------------------------------------------------------------
 304 void PseudoAxes::read_pseudoAxisNames(Tango::Attribute &attr)
 305 {
 306         DEBUG_STREAM << "PseudoAxes::read_pseudoAxisNames(Tango::Attribute &attr) entering... "<< endl;
 307         if(_adapter){
 308                 Matrix<char *> const & img = config.pseudo_axes_names;
 309                 attr.set_value(img.data, img.xdim);
 310         }
 311 }
 312
 313
 314 //+----------------------------------------------------------------------------
 315 //
 316 // method :             PseudoAxes::read_mode
 317 //
 318 // description :        Extract real attribute values for mode acquisition result.
 319 //
 320 //-----------------------------------------------------------------------------
 321 void PseudoAxes::read_mode(Tango::Attribute &attr)
 322 {
 323         DEBUG_STREAM << "PseudoAxes::read_mode(Tango::Attribute &attr) entering... "<< endl;
 324         if(_adapter)
 325                 attr.set_value(&config.mode);
 326 }
 327
 328 //+----------------------------------------------------------------------------
 329 //
 330 // method :             PseudoAxes::write_mode
 331 //
 332 // description :        Write mode attribute values to hardware.
 333 //
 334 //-----------------------------------------------------------------------------
 335 void PseudoAxes::write_mode(Tango::WAttribute &attr)
 336 {
 337         DEBUG_STREAM << "PseudoAxes::write_mode(Tango::WAttribute &attr) entering... "<< endl;
 338         attr.get_write_value(attr_mode_write);
 339         if(_adapter)
 340                 _adapter->set_mode(attr_mode_write);
 341 }
 342
 343 //+----------------------------------------------------------------------------
 344 //
 345 // method :             PseudoAxes::read_modeNames
 346 //
 347 // description :        Extract real attribute values for modeNames acquisition result.
 348 //
 349 //-----------------------------------------------------------------------------
 350 void PseudoAxes::read_modeNames(Tango::Attribute &attr)
 351 {
 352         DEBUG_STREAM << "PseudoAxes::read_modeNames(Tango::Attribute &attr) entering... "<< endl;
 353         if(_adapter){
 354                 Matrix<char *> const & img = config.mode_names;
 355                 attr.set_value(img.data, img.xdim);
 356         }
 357 }
 358
 359 //+----------------------------------------------------------------------------
 360 //
 361 // method :             PseudoAxes::read_parametersNames
 362 //
 363 // description :        Extract real attribute values for parametersNames acquisition result.
 364 //
 365 //-----------------------------------------------------------------------------
 366 void PseudoAxes::read_parametersNames(Tango::Attribute &attr)
 367 {
 368         DEBUG_STREAM << "PseudoAxes::read_parametersNames(Tango::Attribute &attr) entering... "<< endl;
 369         if(_adapter){
 370                 Matrix<char *> const & img = config.parameters_names;
 371                 attr.set_value(img.data, img.xdim);
 372         }
 373 }
 374
 375 //+------------------------------------------------------------------
 376 /**
 377  *      method: PseudoAxes::axis_init
 378  *
 379  *      description:    method to execute "AxisInit"
 380  *      Initialize the pseudoAxes (exemple the psi pseudo axis)
 381  *
 382  *
 383  */
 384 //+------------------------------------------------------------------
 385 void PseudoAxes::axis_init()
 386 {
 387         DEBUG_STREAM << "PseudoAxes::axis_init(): entering... !" << endl;
 388
 389         //      Add your own code to control device here
 390         if(_adapter)
 391                 _adapter->init();
 392 }
 393
 394
 395 //+------------------------------------------------------------------
 396 /**
 397  *      method: PseudoAxes::dev_state
 398  *
 399  *      description:    method to execute "State"
 400  *      This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
 401  *
 402  * @return      State Code
 403  *
 404  */
 405 //+------------------------------------------------------------------
 406 Tango::DevState PseudoAxes::dev_state()
 407 {
 408         Tango::DevState argout = DeviceImpl::dev_state();
 409         DEBUG_STREAM << "PseudoAxes::dev_state(): entering... !" << endl;
 410
 411         //      Add your own code to control device here
 412
 413         if(_adapter)
 414                 this->set_state(config.state);
 415
 416         return this->device_state;
 417 }
 418
 419 //+------------------------------------------------------------------
 420 /**
 421  *      method: PseudoAxes::dev_status
 422  *
 423  *      description:    method to execute "Status"
 424  *      This command gets the device status (stored in its <i>device_status</i> data member) and returns it to the caller.
 425  *
 426  * @return      Status description
 427  *
 428  */
 429 //+------------------------------------------------------------------
 430 Tango::ConstDevString PseudoAxes::dev_status()
 431 {
 432         Tango::ConstDevString   argout = DeviceImpl::dev_status();
 433         DEBUG_STREAM << "PseudoAxes::dev_status(): entering... !" << endl;
 434
 435         //      Add your own code to control device here
 436
 437         if(_adapter)
 438                 this->set_status(config.status);
 439
 440         return this->device_status.c_str();
 441 }
 442
 443
 444 }       //      namespace