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 //  Apply     |  apply()
  45 //
  46 //===================================================================
  47
  48
  49 #include <tango.h>
  50 #include <PseudoAxes.h>
  51 #include <PseudoAxesClass.h>
  52
  53 #include "TangoHKLAdapterFactory.h"
  54
  55 namespace PseudoAxes_ns
  56 {
  57
  58 //+----------------------------------------------------------------------------
  59 //
  60 // method :             PseudoAxes::PseudoAxes(string &s)
  61 //
  62 // description :        constructor for simulated PseudoAxes
  63 //
  64 // in : - cl : Pointer to the DeviceClass object
  65 //      - s : Device name
  66 //
  67 //-----------------------------------------------------------------------------
  68 PseudoAxes::PseudoAxes(Tango::DeviceClass *cl,string &s)
  69 :Tango::Device_4Impl(cl,s.c_str())
  70 {
  71         init_device();
  72 }
  73
  74 PseudoAxes::PseudoAxes(Tango::DeviceClass *cl,const char *s)
  75 :Tango::Device_4Impl(cl,s)
  76 {
  77         init_device();
  78 }
  79
  80 PseudoAxes::PseudoAxes(Tango::DeviceClass *cl,const char *s,const char *d)
  81 :Tango::Device_4Impl(cl,s,d)
  82 {
  83         init_device();
  84 }
  85 //+----------------------------------------------------------------------------
  86 //
  87 // method :             PseudoAxes::delete_device()
  88 //
  89 // description :        will be called at device destruction or at init command.
  90 //
  91 //-----------------------------------------------------------------------------
  92 void PseudoAxes::delete_device()
  93 {
  94         //      Delete device's allocated object
  95
  96         if(_adapter){
  97                 _adapter->save();
  98                 _adapter->remove_dynamic_attributes();
  99                 _adapter = NULL;
 100         }
 101         _hklAdapter = NULL;
 102 }
 103
 104 //+----------------------------------------------------------------------------
 105 //
 106 // method :             PseudoAxes::init_device()
 107 //
 108 // description :        will be called at device initialization.
 109 //
 110 //-----------------------------------------------------------------------------
 111 void PseudoAxes::init_device()
 112 {
 113         INFO_STREAM << "PseudoAxes::PseudoAxes() create device " << device_name << endl;
 114
 115         // Initialise variables to default values
 116         //--------------------------------------------
 117         get_device_property();
 118
 119         _adapter = NULL;
 120         _hklAdapter = NULL;
 121
 122         config.state = Tango::FAULT;
 123         config.status = "Not yet initialized";
 124         config.initialized = false;
 125         config.mode = NULL;
 126
 127         // we can get the Diffractometer device adapter in the init as this one start all PseudoAxes
 128         if(!_hklAdapter)
 129                 _hklAdapter = Diffractometer_ns::TangoHKLAdapterFactory::instance()->get_diffractometer_adapter(diffractometerProxy);
 130
 131         if(_hklAdapter && !_adapter){
 132                 _adapter = _hklAdapter->pseudo_axes_adapter_get_by_name(engineName);
 133                 if(_adapter){
 134                         _adapter->set_device(this);
 135                         _adapter->add_dynamic_attributes();
 136                         _adapter->load();
 137                 }
 138         }
 139 }
 140
 141
 142 //+----------------------------------------------------------------------------
 143 //
 144 // method :             PseudoAxes::get_device_property()
 145 //
 146 // description :        Read the device properties from database.
 147 //
 148 //-----------------------------------------------------------------------------
 149 void PseudoAxes::get_device_property()
 150 {
 151         //      Initialize your default values here (if not done with  POGO).
 152         //------------------------------------------------------------------
 153
 154         //      Read device properties from database.(Automatic code generation)
 155         //------------------------------------------------------------------
 156         Tango::DbData   dev_prop;
 157         dev_prop.push_back(Tango::DbDatum("DiffractometerProxy"));
 158         dev_prop.push_back(Tango::DbDatum("EngineName"));
 159
 160         //      Call database and extract values
 161         //--------------------------------------------
 162         if (Tango::Util::instance()->_UseDb==true)
 163                 get_db_device()->get_property(dev_prop);
 164         Tango::DbDatum  def_prop, cl_prop;
 165         PseudoAxesClass *ds_class =
 166                 (static_cast<PseudoAxesClass *>(get_device_class()));
 167         int     i = -1;
 168
 169         //      Try to initialize DiffractometerProxy from class property
 170         cl_prop = ds_class->get_class_property(dev_prop[++i].name);
 171         if (cl_prop.is_empty()==false)  cl_prop  >>  diffractometerProxy;
 172         else {
 173                 //      Try to initialize DiffractometerProxy from default device value
 174                 def_prop = ds_class->get_default_device_property(dev_prop[i].name);
 175                 if (def_prop.is_empty()==false) def_prop  >>  diffractometerProxy;
 176         }
 177         //      And try to extract DiffractometerProxy value from database
 178         if (dev_prop[i].is_empty()==false)      dev_prop[i]  >>  diffractometerProxy;
 179
 180         //      Try to initialize EngineName from class property
 181         cl_prop = ds_class->get_class_property(dev_prop[++i].name);
 182         if (cl_prop.is_empty()==false)  cl_prop  >>  engineName;
 183         else {
 184                 //      Try to initialize EngineName from default device value
 185                 def_prop = ds_class->get_default_device_property(dev_prop[i].name);
 186                 if (def_prop.is_empty()==false) def_prop  >>  engineName;
 187         }
 188         //      And try to extract EngineName value from database
 189         if (dev_prop[i].is_empty()==false)      dev_prop[i]  >>  engineName;
 190
 191
 192
 193         //      End of Automatic code generation
 194         //------------------------------------------------------------------
 195
 196 }
 197 //+----------------------------------------------------------------------------
 198 //
 199 // method :             PseudoAxes::always_executed_hook()
 200 //
 201 // description :        method always executed before any command is executed
 202 //
 203 //-----------------------------------------------------------------------------
 204 void PseudoAxes::always_executed_hook()
 205 {
 206         if(!_hklAdapter)
 207                 _hklAdapter = Diffractometer_ns::TangoHKLAdapterFactory::instance()->get_diffractometer_adapter(diffractometerProxy);
 208
 209         if(_hklAdapter && !_adapter)
 210                 _adapter = _hklAdapter->pseudo_axes_adapter_get_by_name(engineName);
 211 }
 212
 213 //+----------------------------------------------------------------------------
 214 //
 215 // method :             PseudoAxes::read_attr_hardware
 216 //
 217 // description :        Hardware acquisition for attributes.
 218 //
 219 //-----------------------------------------------------------------------------
 220 void PseudoAxes::read_attr_hardware(vector<long> &attr_list)
 221 {
 222         DEBUG_STREAM << "PseudoAxes::read_attr_hardware(vector<long> &attr_list) entering... "<< endl;
 223         //      Add your own code here
 224         if(_adapter)
 225                 config = _adapter->get_config();
 226 }
 227 //+----------------------------------------------------------------------------
 228 //
 229 // method :             PseudoAxes::read_initialized
 230 //
 231 // description :        Extract real attribute values for initialized acquisition result.
 232 //
 233 //-----------------------------------------------------------------------------
 234 void PseudoAxes::read_initialized(Tango::Attribute &attr)
 235 {
 236         DEBUG_STREAM << "PseudoAxes::read_initialized(Tango::Attribute &attr) entering... "<< endl;
 237         if(_adapter)
 238                 attr.set_value(&config.initialized);
 239 }
 240
 241 //+----------------------------------------------------------------------------
 242 //
 243 // method :             PseudoAxes::write_initialized
 244 //
 245 // description :        Write initialized attribute values to hardware.
 246 //
 247 //-----------------------------------------------------------------------------
 248 void PseudoAxes::write_initialized(Tango::WAttribute &attr)
 249 {
 250         DEBUG_STREAM << "PseudoAxes::write_initialized(Tango::WAttribute &attr) entering... "<< endl;
 251
 252         if(_adapter){
 253                 Tango::DevBoolean initialized;
 254                 attr.get_write_value(initialized);
 255                 _adapter->set_initialized(initialized);
 256         }
 257 }
 258
 259 //+----------------------------------------------------------------------------
 260 //
 261 // method :             PseudoAxes::read_parameters
 262 //
 263 // description :        Extract real attribute values for parameters acquisition result.
 264 //
 265 //-----------------------------------------------------------------------------
 266 void PseudoAxes::read_parameters(Tango::Attribute &attr)
 267 {
 268         DEBUG_STREAM << "PseudoAxes::read_parameters(Tango::Attribute &attr) entering... "<< endl;
 269
 270         if(_adapter){
 271                 Matrix<double> const & img = config.parameters;
 272                 attr.set_value(img.data, img.xdim);
 273         }
 274 }
 275
 276 //+----------------------------------------------------------------------------
 277 //
 278 // method :             PseudoAxes::write_parameters
 279 //
 280 // description :        Write parameters attribute values to hardware.
 281 //
 282 //-----------------------------------------------------------------------------
 283 void PseudoAxes::write_parameters(Tango::WAttribute &attr)
 284 {
 285         DEBUG_STREAM << "PseudoAxes::write_parameters(Tango::WAttribute &attr) entering... "<< endl;
 286
 287         if(_adapter){
 288                 const Tango::DevDouble *values;
 289                 attr.get_write_value(values);
 290                 Matrix<double> img;
 291                 img.attach_to_const_buffer(values,
 292                                            attr.get_w_dim_x(), attr.get_w_dim_y());
 293
 294                 _adapter->set_parameters(img);
 295         }
 296 }
 297
 298 //+----------------------------------------------------------------------------
 299 //
 300 // method :             PseudoAxes::read_pseudoAxisNames
 301 //
 302 // description :        Extract real attribute values for pseudoAxisNames acquisition result.
 303 //
 304 //-----------------------------------------------------------------------------
 305 void PseudoAxes::read_pseudoAxisNames(Tango::Attribute &attr)
 306 {
 307         DEBUG_STREAM << "PseudoAxes::read_pseudoAxisNames(Tango::Attribute &attr) entering... "<< endl;
 308         if(_adapter){
 309                 Matrix<char *> const & img = config.pseudo_axes_names;
 310                 attr.set_value(img.data, img.xdim);
 311         }
 312 }
 313
 314
 315 //+----------------------------------------------------------------------------
 316 //
 317 // method :             PseudoAxes::read_mode
 318 //
 319 // description :        Extract real attribute values for mode acquisition result.
 320 //
 321 //-----------------------------------------------------------------------------
 322 void PseudoAxes::read_mode(Tango::Attribute &attr)
 323 {
 324         DEBUG_STREAM << "PseudoAxes::read_mode(Tango::Attribute &attr) entering... "<< endl;
 325         if(_adapter)
 326                 attr.set_value(&config.mode);
 327 }
 328
 329 //+----------------------------------------------------------------------------
 330 //
 331 // method :             PseudoAxes::write_mode
 332 //
 333 // description :        Write mode attribute values to hardware.
 334 //
 335 //-----------------------------------------------------------------------------
 336 void PseudoAxes::write_mode(Tango::WAttribute &attr)
 337 {
 338         DEBUG_STREAM << "PseudoAxes::write_mode(Tango::WAttribute &attr) entering... "<< endl;
 339         attr.get_write_value(attr_mode_write);
 340         if(_adapter)
 341                 _adapter->set_mode(attr_mode_write);
 342 }
 343
 344 //+----------------------------------------------------------------------------
 345 //
 346 // method :             PseudoAxes::read_modeNames
 347 //
 348 // description :        Extract real attribute values for modeNames acquisition result.
 349 //
 350 //-----------------------------------------------------------------------------
 351 void PseudoAxes::read_modeNames(Tango::Attribute &attr)
 352 {
 353         DEBUG_STREAM << "PseudoAxes::read_modeNames(Tango::Attribute &attr) entering... "<< endl;
 354         if(_adapter){
 355                 Matrix<char *> const & img = config.mode_names;
 356                 attr.set_value(img.data, img.xdim);
 357         }
 358 }
 359
 360 //+----------------------------------------------------------------------------
 361 //
 362 // method :             PseudoAxes::read_parametersNames
 363 //
 364 // description :        Extract real attribute values for parametersNames acquisition result.
 365 //
 366 //-----------------------------------------------------------------------------
 367 void PseudoAxes::read_parametersNames(Tango::Attribute &attr)
 368 {
 369         DEBUG_STREAM << "PseudoAxes::read_parametersNames(Tango::Attribute &attr) entering... "<< endl;
 370         if(_adapter){
 371                 Matrix<char *> const & img = config.parameters_names;
 372                 attr.set_value(img.data, img.xdim);
 373         }
 374 }
 375
 376 //+------------------------------------------------------------------
 377 /**
 378  *      method: PseudoAxes::axis_init
 379  *
 380  *      description:    method to execute "AxisInit"
 381  *      Initialize the pseudoAxes (exemple the psi pseudo axis)
 382  *
 383  *
 384  */
 385 //+------------------------------------------------------------------
 386 void PseudoAxes::axis_init()
 387 {
 388         DEBUG_STREAM << "PseudoAxes::axis_init(): entering... !" << endl;
 389
 390         //      Add your own code to control device here
 391         if(_adapter)
 392                 _adapter->init();
 393 }
 394
 395
 396 //+------------------------------------------------------------------
 397 /**
 398  *      method: PseudoAxes::dev_state
 399  *
 400  *      description:    method to execute "State"
 401  *      This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
 402  *
 403  * @return      State Code
 404  *
 405  */
 406 //+------------------------------------------------------------------
 407 Tango::DevState PseudoAxes::dev_state()
 408 {
 409         Tango::DevState argout = DeviceImpl::dev_state();
 410         DEBUG_STREAM << "PseudoAxes::dev_state(): entering... !" << endl;
 411
 412         //      Add your own code to control device here
 413
 414         if(_adapter)
 415                 this->set_state(config.state);
 416
 417         return this->device_state;
 418 }
 419
 420 //+------------------------------------------------------------------
 421 /**
 422  *      method: PseudoAxes::dev_status
 423  *
 424  *      description:    method to execute "Status"
 425  *      This command gets the device status (stored in its <i>device_status</i> data member) and returns it to the caller.
 426  *
 427  * @return      Status description
 428  *
 429  */
 430 //+------------------------------------------------------------------
 431 Tango::ConstDevString PseudoAxes::dev_status()
 432 {
 433         Tango::ConstDevString   argout = DeviceImpl::dev_status();
 434         DEBUG_STREAM << "PseudoAxes::dev_status(): entering... !" << endl;
 435
 436         //      Add your own code to control device here
 437
 438         if(_adapter)
 439                 this->set_status(config.status);
 440
 441         return this->device_status.c_str();
 442 }
 443
 444
 445
 446 //+------------------------------------------------------------------
 447 /**
 448  *      method: PseudoAxes::apply
 449  *
 450  *      description:    method to execute "Apply"
 451  *      Apply the values of the pseudo axes and write them on the diffractometer device.
 452  *
 453  *
 454  */
 455 //+------------------------------------------------------------------
 456 void PseudoAxes::apply()
 457 {
 458         DEBUG_STREAM << "PseudoAxes::apply(): entering... !" << endl;
 459
 460         //      Add your own code to control device here
 461         if(_adapter)
 462                 _adapter->apply();
 463 }
 464
 465 }       //      namespace