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
 125         // we can get the Diffractometer device adapter in the init as this one start all PseudoAxes
 126         if(!_hklAdapter)
 127                 _hklAdapter = Diffractometer_ns::TangoHKLAdapterFactory::instance()->get_diffractometer_adapter(diffractometerProxy);
 128
 129         if(_hklAdapter && !_adapter){
 130                 _adapter = _hklAdapter->pseudo_axes_adapter_get_by_name(engineName);
 131                 if(_adapter){
 132                         _adapter->set_device(this);
 133                         _adapter->add_dynamic_attributes();
 134                         _adapter->load();
 135                 }
 136         }
 137 }
 138
 139
 140 //+----------------------------------------------------------------------------
 141 //
 142 // method :             PseudoAxes::get_device_property()
 143 //
 144 // description :        Read the device properties from database.
 145 //
 146 //-----------------------------------------------------------------------------
 147 void PseudoAxes::get_device_property()
 148 {
 149         //      Initialize your default values here (if not done with  POGO).
 150         //------------------------------------------------------------------
 151
 152         //      Read device properties from database.(Automatic code generation)
 153         //------------------------------------------------------------------
 154         Tango::DbData   dev_prop;
 155         dev_prop.push_back(Tango::DbDatum("DiffractometerProxy"));
 156         dev_prop.push_back(Tango::DbDatum("EngineName"));
 157
 158         //      Call database and extract values
 159         //--------------------------------------------
 160         if (Tango::Util::instance()->_UseDb==true)
 161                 get_db_device()->get_property(dev_prop);
 162         Tango::DbDatum  def_prop, cl_prop;
 163         PseudoAxesClass *ds_class =
 164                 (static_cast<PseudoAxesClass *>(get_device_class()));
 165         int     i = -1;
 166
 167         //      Try to initialize DiffractometerProxy from class property
 168         cl_prop = ds_class->get_class_property(dev_prop[++i].name);
 169         if (cl_prop.is_empty()==false)  cl_prop  >>  diffractometerProxy;
 170         else {
 171                 //      Try to initialize DiffractometerProxy from default device value
 172                 def_prop = ds_class->get_default_device_property(dev_prop[i].name);
 173                 if (def_prop.is_empty()==false) def_prop  >>  diffractometerProxy;
 174         }
 175         //      And try to extract DiffractometerProxy value from database
 176         if (dev_prop[i].is_empty()==false)      dev_prop[i]  >>  diffractometerProxy;
 177
 178         //      Try to initialize EngineName from class property
 179         cl_prop = ds_class->get_class_property(dev_prop[++i].name);
 180         if (cl_prop.is_empty()==false)  cl_prop  >>  engineName;
 181         else {
 182                 //      Try to initialize EngineName from default device value
 183                 def_prop = ds_class->get_default_device_property(dev_prop[i].name);
 184                 if (def_prop.is_empty()==false) def_prop  >>  engineName;
 185         }
 186         //      And try to extract EngineName value from database
 187         if (dev_prop[i].is_empty()==false)      dev_prop[i]  >>  engineName;
 188
 189
 190
 191         //      End of Automatic code generation
 192         //------------------------------------------------------------------
 193
 194 }
 195 //+----------------------------------------------------------------------------
 196 //
 197 // method :             PseudoAxes::always_executed_hook()
 198 //
 199 // description :        method always executed before any command is executed
 200 //
 201 //-----------------------------------------------------------------------------
 202 void PseudoAxes::always_executed_hook()
 203 {
 204         if(!_hklAdapter)
 205                 _hklAdapter = Diffractometer_ns::TangoHKLAdapterFactory::instance()->get_diffractometer_adapter(diffractometerProxy);
 206
 207         if(_hklAdapter && !_adapter)
 208                 _adapter = _hklAdapter->pseudo_axes_adapter_get_by_name(engineName);
 209 }
 210
 211 //+----------------------------------------------------------------------------
 212 //
 213 // method :             PseudoAxes::read_attr_hardware
 214 //
 215 // description :        Hardware acquisition for attributes.
 216 //
 217 //-----------------------------------------------------------------------------
 218 void PseudoAxes::read_attr_hardware(vector<long> &attr_list)
 219 {
 220         DEBUG_STREAM << "PseudoAxes::read_attr_hardware(vector<long> &attr_list) entering... "<< endl;
 221         //      Add your own code here
 222         if(_adapter)
 223                 _config = _adapter->get_config();
 224 }
 225 //+----------------------------------------------------------------------------
 226 //
 227 // method :             PseudoAxes::read_initialized
 228 //
 229 // description :        Extract real attribute values for initialized acquisition result.
 230 //
 231 //-----------------------------------------------------------------------------
 232 void PseudoAxes::read_initialized(Tango::Attribute &attr)
 233 {
 234         DEBUG_STREAM << "PseudoAxes::read_initialized(Tango::Attribute &attr) entering... "<< endl;
 235         if(_adapter)
 236                 attr.set_value(&_config.initialized);
 237 }
 238
 239 //+----------------------------------------------------------------------------
 240 //
 241 // method :             PseudoAxes::write_initialized
 242 //
 243 // description :        Write initialized attribute values to hardware.
 244 //
 245 //-----------------------------------------------------------------------------
 246 void PseudoAxes::write_initialized(Tango::WAttribute &attr)
 247 {
 248         DEBUG_STREAM << "PseudoAxes::write_initialized(Tango::WAttribute &attr) entering... "<< endl;
 249
 250         if(_adapter){
 251                 Tango::DevBoolean initialized;
 252                 attr.get_write_value(initialized);
 253                 _adapter->set_initialized(initialized);
 254         }
 255 }
 256
 257 //+----------------------------------------------------------------------------
 258 //
 259 // method :             PseudoAxes::read_parameters
 260 //
 261 // description :        Extract real attribute values for parameters acquisition result.
 262 //
 263 //-----------------------------------------------------------------------------
 264 void PseudoAxes::read_parameters(Tango::Attribute &attr)
 265 {
 266         DEBUG_STREAM << "PseudoAxes::read_parameters(Tango::Attribute &attr) entering... "<< endl;
 267
 268         if(_adapter){
 269                 Matrix<double> const & img = _adapter->get_mode_parameters();
 270                 attr.set_value(img.data, img.xdim);
 271         }
 272 }
 273
 274 //+----------------------------------------------------------------------------
 275 //
 276 // method :             PseudoAxes::write_parameters
 277 //
 278 // description :        Write parameters attribute values to hardware.
 279 //
 280 //-----------------------------------------------------------------------------
 281 void PseudoAxes::write_parameters(Tango::WAttribute &attr)
 282 {
 283         DEBUG_STREAM << "PseudoAxes::write_parameters(Tango::WAttribute &attr) entering... "<< endl;
 284
 285         if(_adapter){
 286                 const Tango::DevDouble *values;
 287                 attr.get_write_value(values);
 288                 Matrix<double> img;
 289                 img.attach_to_const_buffer(values,
 290                                            attr.get_w_dim_x(), attr.get_w_dim_y());
 291
 292                 _adapter->set_mode_parameters(img);
 293         }
 294 }
 295
 296 //+----------------------------------------------------------------------------
 297 //
 298 // method :             PseudoAxes::read_pseudoAxisNames
 299 //
 300 // description :        Extract real attribute values for pseudoAxisNames acquisition result.
 301 //
 302 //-----------------------------------------------------------------------------
 303 void PseudoAxes::read_pseudoAxisNames(Tango::Attribute &attr)
 304 {
 305         DEBUG_STREAM << "PseudoAxes::read_pseudoAxisNames(Tango::Attribute &attr) entering... "<< endl;
 306         if(_adapter){
 307                 Matrix<char *> const & img = _adapter->get_pseudo_axis_names();
 308                 attr.set_value(img.data, img.xdim);
 309         }
 310 }
 311
 312
 313 //+----------------------------------------------------------------------------
 314 //
 315 // method :             PseudoAxes::read_mode
 316 //
 317 // description :        Extract real attribute values for mode acquisition result.
 318 //
 319 //-----------------------------------------------------------------------------
 320 void PseudoAxes::read_mode(Tango::Attribute &attr)
 321 {
 322         DEBUG_STREAM << "PseudoAxes::read_mode(Tango::Attribute &attr) entering... "<< endl;
 323         if(_adapter)
 324                 attr.set_value(_adapter->get_mode());
 325 }
 326
 327 //+----------------------------------------------------------------------------
 328 //
 329 // method :             PseudoAxes::write_mode
 330 //
 331 // description :        Write mode attribute values to hardware.
 332 //
 333 //-----------------------------------------------------------------------------
 334 void PseudoAxes::write_mode(Tango::WAttribute &attr)
 335 {
 336         DEBUG_STREAM << "PseudoAxes::write_mode(Tango::WAttribute &attr) entering... "<< endl;
 337         attr.get_write_value(attr_mode_write);
 338         if(_adapter)
 339                 _adapter->set_mode(attr_mode_write);
 340 }
 341
 342 //+----------------------------------------------------------------------------
 343 //
 344 // method :             PseudoAxes::read_modeNames
 345 //
 346 // description :        Extract real attribute values for modeNames acquisition result.
 347 //
 348 //-----------------------------------------------------------------------------
 349 void PseudoAxes::read_modeNames(Tango::Attribute &attr)
 350 {
 351         DEBUG_STREAM << "PseudoAxes::read_modeNames(Tango::Attribute &attr) entering... "<< endl;
 352         if(_adapter){
 353                 Matrix<char *> const & img = _adapter->get_mode_names();
 354                 attr.set_value(img.data, img.xdim);
 355         }
 356 }
 357
 358 //+----------------------------------------------------------------------------
 359 //
 360 // method :             PseudoAxes::read_parametersNames
 361 //
 362 // description :        Extract real attribute values for parametersNames acquisition result.
 363 //
 364 //-----------------------------------------------------------------------------
 365 void PseudoAxes::read_parametersNames(Tango::Attribute &attr)
 366 {
 367         DEBUG_STREAM << "PseudoAxes::read_parametersNames(Tango::Attribute &attr) entering... "<< endl;
 368         if(_adapter){
 369                 Matrix<char *> const & img = _adapter->get_mode_parameters_names();
 370                 attr.set_value(img.data, img.xdim);
 371         }
 372 }
 373
 374 //+------------------------------------------------------------------
 375 /**
 376  *      method: PseudoAxes::axis_init
 377  *
 378  *      description:    method to execute "AxisInit"
 379  *      Initialize the pseudoAxes (exemple the psi pseudo axis)
 380  *
 381  *
 382  */
 383 //+------------------------------------------------------------------
 384 void PseudoAxes::axis_init()
 385 {
 386         DEBUG_STREAM << "PseudoAxes::axis_init(): entering... !" << endl;
 387
 388         //      Add your own code to control device here
 389         if(_adapter)
 390                 _adapter->init();
 391 }
 392
 393
 394 //+------------------------------------------------------------------
 395 /**
 396  *      method: PseudoAxes::dev_state
 397  *
 398  *      description:    method to execute "State"
 399  *      This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
 400  *
 401  * @return      State Code
 402  *
 403  */
 404 //+------------------------------------------------------------------
 405 Tango::DevState PseudoAxes::dev_state()
 406 {
 407         Tango::DevState argout = DeviceImpl::dev_state();
 408         DEBUG_STREAM << "PseudoAxes::dev_state(): entering... !" << endl;
 409
 410         //      Add your own code to control device here
 411
 412         if(_adapter)
 413                 this->set_state(_config.state);
 414
 415         return this->device_state;
 416 }
 417
 418 //+------------------------------------------------------------------
 419 /**
 420  *      method: PseudoAxes::dev_status
 421  *
 422  *      description:    method to execute "Status"
 423  *      This command gets the device status (stored in its <i>device_status</i> data member) and returns it to the caller.
 424  *
 425  * @return      Status description
 426  *
 427  */
 428 //+------------------------------------------------------------------
 429 Tango::ConstDevString PseudoAxes::dev_status()
 430 {
 431         Tango::ConstDevString   argout = DeviceImpl::dev_status();
 432         DEBUG_STREAM << "PseudoAxes::dev_status(): entering... !" << endl;
 433
 434         //      Add your own code to control device here
 435
 436         if(_adapter)
 437                 this->set_status(_config.status);
 438
 439         return this->device_status.c_str();
 440 }
 441
 442
 443 }       //      namespace