src/PseudoAxis/PseudoAxis.h

   1 #ifndef _PSEUDOAXIS_H
   2 #define _PSEUDOAXIS_H
   3
   4 #include <tango.h>
   5
   6 #include "TangoHKLAdapter.h"
   7
   8 //forward declaration
   9 //namespace hkl { class PseudoAxe; }
  10
  11 //      Add your own constants definitions here.
  12 //-----------------------------------------------
  13 namespace PseudoAxis_ns
  14 {
  15
  16         /**
  17          * Class Description:
  18          *
  19  */
  20
  21 /*
  22  *      Device States Description:
  23 *  Tango::OFF :      Communication broken with the motion controller
  24 *  Tango::STANDBY :  Axis OK, waiting for commands
  25 *  Tango::MOVING :   Axis is moving
  26 *  Tango::FAULT :    Failure on the axis. Can be hardware failure .
  27 *  Tango::ALARM :    Alarm on the axis. can be soft or hard limit, abort input...
  28 *  Tango::DISABLE :  For debug purpose
  29  */
  30
  31
  32         class PseudoAxis: public Tango::Device_3Impl
  33         {
  34                 public :
  35                         //      Add your own data members here
  36                         //-----------------------------------------
  37
  38
  39                         //      Here is the Start of the automatic code generation part
  40                         //-------------------------------------------------------------
  41                         /**
  42                          *      @name attributes
  43                          *      Attributs member data.
  44                          */
  45                         //@{
  46                 Tango::DevDouble        *attr_position_read;
  47                 Tango::DevDouble        attr_position_write;
  48                 Tango::DevDouble        *attr_offset_read;
  49                 Tango::DevDouble        attr_offset_write;
  50                 Tango::DevBoolean       *attr_initialized_read;
  51                 Tango::DevBoolean       attr_initialized_write;
  52                 Tango::DevDouble        attr_relativeMove_write;
  53                 Tango::DevString        *attr_mode_read;
  54                 Tango::DevString        attr_mode_write;
  55                 Tango::DevBoolean       *attr_IsInitialised_read;
  56                 Tango::DevBoolean       attr_IsInitialised_write;
  57                 Tango::DevString        *attr_modeNames_read;
  58 //@}
  59
  60                         /**
  61                          *      @name Device properties
  62                          *      Device properties member data.
  63                          */
  64                         //@{
  65 /**
  66  *      This is the tango url to the device Diffractometer.\nN.B : The instance of the diffractometer must be the same that this PseudoAxis
  67  */
  68         string  diffractometerProxy;
  69 /**
  70  *      This name must be register in the HKL library.
  71  *
  72  *      i.e :
  73  *      For Eulerian 4 circles : psi, q, q2th, th2th
  74  */
  75         string  pseudoAxisName;
  76 //@}
  77
  78                         /**@name Constructors
  79                          * Miscellaneous constructors */
  80                         //@{
  81                         /**
  82                          * Constructs a newly allocated Command object.
  83                          *
  84                          *      @param cl       Class.
  85                          *      @param s        Device Name
  86                          */
  87                         PseudoAxis(Tango::DeviceClass *cl,string &s);
  88                         /**
  89                          * Constructs a newly allocated Command object.
  90                          *
  91                          *      @param cl       Class.
  92                          *      @param s        Device Name
  93                          */
  94                         PseudoAxis(Tango::DeviceClass *cl,const char *s);
  95                         /**
  96                          * Constructs a newly allocated Command object.
  97                          *
  98                          *      @param cl       Class.
  99                          *      @param s        Device name
 100                          *      @param d        Device description.
 101                          */
 102                         PseudoAxis(Tango::DeviceClass *cl,const char *s,const char *d);
 103                         //@}
 104
 105                         /**@name Destructor
 106                          * Only one desctructor is defined for this class */
 107                         //@{
 108                         /**
 109                          * The object desctructor.
 110                          */
 111                         ~PseudoAxis() {delete_device();};
 112                         /**
 113                          *      will be called at device destruction or at init command.
 114                          */
 115                         void delete_device();
 116                         //@}
 117
 118
 119                         /**@name Miscellaneous methods */
 120                         //@{
 121                         /**
 122                          *      Initialize the device
 123                          */
 124                         virtual void init_device();
 125                         /**
 126                          *      Always executed method befor execution command method.
 127                          */
 128                         virtual void always_executed_hook();
 129
 130 //@}
 131
 132 /**
 133  * @name PseudoAxis methods prototypes
 134  */
 135
 136 //@{
 137 /**
 138  *      Hardware acquisition for attributes.
 139  */
 140         virtual void read_attr_hardware(vector<long> &attr_list);
 141 /**
 142  *      Extract real attribute values for position acquisition result.
 143  */
 144         virtual void read_position(Tango::Attribute &attr);
 145 /**
 146  *      Write position attribute values to hardware.
 147  */
 148         virtual void write_position(Tango::WAttribute &attr);
 149 /**
 150  *      Extract real attribute values for offset acquisition result.
 151  */
 152         virtual void read_offset(Tango::Attribute &attr);
 153 /**
 154  *      Write offset attribute values to hardware.
 155  */
 156         virtual void write_offset(Tango::WAttribute &attr);
 157 /**
 158  *      Extract real attribute values for initialized acquisition result.
 159  */
 160         virtual void read_initialized(Tango::Attribute &attr);
 161 /**
 162  *      Write initialized attribute values to hardware.
 163  */
 164         virtual void write_initialized(Tango::WAttribute &attr);
 165 /**
 166  *      Extract real attribute values for relativeMove acquisition result.
 167  */
 168         virtual void read_relativeMove(Tango::Attribute &attr);
 169 /**
 170  *      Write relativeMove attribute values to hardware.
 171  */
 172         virtual void write_relativeMove(Tango::WAttribute &attr);
 173 /**
 174  *      Extract real attribute values for mode acquisition result.
 175  */
 176         virtual void read_mode(Tango::Attribute &attr);
 177 /**
 178  *      Write mode attribute values to hardware.
 179  */
 180         virtual void write_mode(Tango::WAttribute &attr);
 181 /**
 182  *      Extract real attribute values for IsInitialised acquisition result.
 183  */
 184         virtual void read_IsInitialised(Tango::Attribute &attr);
 185 /**
 186  *      Write IsInitialised attribute values to hardware.
 187  */
 188         virtual void write_IsInitialised(Tango::WAttribute &attr);
 189 /**
 190  *      Extract real attribute values for modeNames acquisition result.
 191  */
 192         virtual void read_modeNames(Tango::Attribute &attr);
 193 /**
 194  *      Read/Write allowed for position attribute.
 195  */
 196         virtual bool is_position_allowed(Tango::AttReqType type);
 197 /**
 198  *      Read/Write allowed for offset attribute.
 199  */
 200         virtual bool is_offset_allowed(Tango::AttReqType type);
 201 /**
 202  *      Read/Write allowed for initialized attribute.
 203  */
 204         virtual bool is_initialized_allowed(Tango::AttReqType type);
 205 /**
 206  *      Read/Write allowed for relativeMove attribute.
 207  */
 208         virtual bool is_relativeMove_allowed(Tango::AttReqType type);
 209 /**
 210  *      Read/Write allowed for mode attribute.
 211  */
 212         virtual bool is_mode_allowed(Tango::AttReqType type);
 213 /**
 214  *      Read/Write allowed for IsInitialised attribute.
 215  */
 216         virtual bool is_IsInitialised_allowed(Tango::AttReqType type);
 217 /**
 218  *      Read/Write allowed for modeNames attribute.
 219  */
 220         virtual bool is_modeNames_allowed(Tango::AttReqType type);
 221 /**
 222  *      Execution allowed for Stop command.
 223  */
 224         virtual bool is_Stop_allowed(const CORBA::Any &any);
 225 /**
 226  *      Execution allowed for On command.
 227  */
 228         virtual bool is_On_allowed(const CORBA::Any &any);
 229 /**
 230  *      Execution allowed for MotorOFF command.
 231  */
 232         virtual bool is_MotorOFF_allowed(const CORBA::Any &any);
 233 /**
 234  *      Execution allowed for MotorON command.
 235  */
 236         virtual bool is_MotorON_allowed(const CORBA::Any &any);
 237 /**
 238  *      Execution allowed for MotorInit command.
 239  */
 240         virtual bool is_MotorInit_allowed(const CORBA::Any &any);
 241 /**
 242  *      Execution allowed for ComputeNewOffset command.
 243  */
 244         virtual bool is_ComputeNewOffset_allowed(const CORBA::Any &any);
 245 /**
 246  *      Execution allowed for Backward command.
 247  */
 248         virtual bool is_Backward_allowed(const CORBA::Any &any);
 249 /**
 250  *      Execution allowed for Forward command.
 251  */
 252         virtual bool is_Forward_allowed(const CORBA::Any &any);
 253 /**
 254  *      Execution allowed for DefinePosition command.
 255  */
 256         virtual bool is_DefinePosition_allowed(const CORBA::Any &any);
 257 /**
 258  *      Execution allowed for InitializeReferencePosition command.
 259  */
 260         virtual bool is_InitializeReferencePosition_allowed(const CORBA::Any &any);
 261 /**
 262  *      Execution allowed for GetModeParameters command.
 263  */
 264         virtual bool is_GetModeParameters_allowed(const CORBA::Any &any);
 265 /**
 266  *      Execution allowed for SetModeParameters command.
 267  */
 268         virtual bool is_SetModeParameters_allowed(const CORBA::Any &any);
 269 /**
 270  * This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
 271  *      @return State Code
 272  *      @exception DevFailed
 273  */
 274         virtual Tango::DevState dev_state();
 275 /**
 276  * This command gets the device status (stored in its <i>device_status</i> data member) and returns it to the caller.
 277  *      @return Status description
 278  *      @exception DevFailed
 279  */
 280         virtual Tango::ConstDevString   dev_status();
 281 /**
 282  * Stop the pseudoAxes and all related axes.
 283  *      @exception DevFailed
 284  */
 285         void    stop();
 286 /**
 287  * Activate the pseudoAxis and all related motors.
 288  *      @exception DevFailed
 289  */
 290         void    on();
 291 /**
 292  * DEPRECATED
 293  *      @exception DevFailed
 294  */
 295         void    motor_off();
 296 /**
 297  * DEPRECATED
 298  *      @exception DevFailed
 299  */
 300         void    motor_on();
 301 /**
 302  * DEPRECATED
 303  *      @exception DevFailed
 304  */
 305         void    motor_init();
 306 /**
 307  * The so smart program computes the offset to goal the user position.
 308  *      @param  argin   The new user position
 309  *      @exception DevFailed
 310  */
 311         void    compute_new_offset(Tango::DevDouble);
 312 /**
 313  * dummy command for V2 interface
 314  *      @exception DevFailed
 315  */
 316         void    backward();
 317 /**
 318  * dummy command for V2 interface
 319  *      @exception DevFailed
 320  */
 321         void    forward();
 322 /**
 323  * dummy command for V2 interface
 324  *      @param  argin
 325  *      @exception DevFailed
 326  */
 327         void    define_position(Tango::DevDouble);
 328 /**
 329  * dummy command for V2 interface
 330  *      @exception DevFailed
 331  */
 332         void    initialize_reference_position();
 333 /**
 334  * this command return for the current mode, its parameters.
 335  *      @return parameters names and values
 336  *      @exception DevFailed
 337  */
 338         Tango::DevVarDoubleStringArray  *get_mode_parameters();
 339 /**
 340  *
 341  *      @param  argin   The parameters to set
 342  *      @exception DevFailed
 343  */
 344         void    set_mode_parameters(const Tango::DevVarDoubleStringArray *);
 345
 346 /**
 347  *      Read the device properties from database
 348  */
 349          void get_device_property();
 350 //@}
 351
 352                         //      Here is the end of the automatic code generation part
 353                         //-------------------------------------------------------------
 354                         void set_hkl_library(Diffractometer_ns::TangoHKLAdapter* hkl_library);
 355
 356
 357                 protected :
 358                         //      Add your own data members here
 359                         //-----------------------------------------
 360                         Diffractometer_ns::PseudoAxisAdapter * _buffer;
 361                         Diffractometer_ns::TangoHKLAdapter * _hklAdapter;
 362                         Diffractometer_ns::PseudoAxisConfig _config;
 363         };
 364
 365 }       // namespace_ns
 366
 367 #endif  // _PSEUDOAXIS_H