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_IsInitialised_read;
  51                 Tango::DevBoolean       attr_IsInitialised_write;
  52                 Tango::DevDouble        attr_relativeMove_write;
  53                 Tango::DevString        *attr_mode_read;
  54                 Tango::DevString        attr_mode_write;
  55                 Tango::DevString        *attr_modeNames_read;
  56 //@}
  57
  58                         /**
  59                          *      @name Device properties
  60                          *      Device properties member data.
  61                          */
  62                         //@{
  63 /**
  64  *      This is the tango url to the device Diffractometer.\nN.B : The instance of the diffractometer must be the same that this PseudoAxis
  65  */
  66         string  diffractometerProxy;
  67 /**
  68  *      This name must be register in the HKL library.
  69  *
  70  *      i.e :
  71  *      For Eulerian 4 circles : psi, q, q2th, th2th
  72  */
  73         string  pseudoAxisName;
  74 //@}
  75
  76                         /**@name Constructors
  77                          * Miscellaneous constructors */
  78                         //@{
  79                         /**
  80                          * Constructs a newly allocated Command object.
  81                          *
  82                          *      @param cl       Class.
  83                          *      @param s        Device Name
  84                          */
  85                         PseudoAxis(Tango::DeviceClass *cl,string &s);
  86                         /**
  87                          * Constructs a newly allocated Command object.
  88                          *
  89                          *      @param cl       Class.
  90                          *      @param s        Device Name
  91                          */
  92                         PseudoAxis(Tango::DeviceClass *cl,const char *s);
  93                         /**
  94                          * Constructs a newly allocated Command object.
  95                          *
  96                          *      @param cl       Class.
  97                          *      @param s        Device name
  98                          *      @param d        Device description.
  99                          */
 100                         PseudoAxis(Tango::DeviceClass *cl,const char *s,const char *d);
 101                         //@}
 102
 103                         /**@name Destructor
 104                          * Only one desctructor is defined for this class */
 105                         //@{
 106                         /**
 107                          * The object desctructor.
 108                          */
 109                         ~PseudoAxis() {delete_device();};
 110                         /**
 111                          *      will be called at device destruction or at init command.
 112                          */
 113                         void delete_device();
 114                         //@}
 115
 116
 117                         /**@name Miscellaneous methods */
 118                         //@{
 119                         /**
 120                          *      Initialize the device
 121                          */
 122                         virtual void init_device();
 123                         /**
 124                          *      Always executed method befor execution command method.
 125                          */
 126                         virtual void always_executed_hook();
 127
 128 //@}
 129
 130 /**
 131  * @name PseudoAxis methods prototypes
 132  */
 133
 134 //@{
 135 /**
 136  *      Hardware acquisition for attributes.
 137  */
 138         virtual void read_attr_hardware(vector<long> &attr_list);
 139 /**
 140  *      Extract real attribute values for position acquisition result.
 141  */
 142         virtual void read_position(Tango::Attribute &attr);
 143 /**
 144  *      Write position attribute values to hardware.
 145  */
 146         virtual void write_position(Tango::WAttribute &attr);
 147 /**
 148  *      Extract real attribute values for offset acquisition result.
 149  */
 150         virtual void read_offset(Tango::Attribute &attr);
 151 /**
 152  *      Write offset attribute values to hardware.
 153  */
 154         virtual void write_offset(Tango::WAttribute &attr);
 155 /**
 156  *      Extract real attribute values for IsInitialised acquisition result.
 157  */
 158         virtual void read_IsInitialised(Tango::Attribute &attr);
 159 /**
 160  *      Write IsInitialised attribute values to hardware.
 161  */
 162         virtual void write_IsInitialised(Tango::WAttribute &attr);
 163 /**
 164  *      Extract real attribute values for relativeMove acquisition result.
 165  */
 166         virtual void read_relativeMove(Tango::Attribute &attr);
 167 /**
 168  *      Write relativeMove attribute values to hardware.
 169  */
 170         virtual void write_relativeMove(Tango::WAttribute &attr);
 171 /**
 172  *      Extract real attribute values for mode acquisition result.
 173  */
 174         virtual void read_mode(Tango::Attribute &attr);
 175 /**
 176  *      Write mode attribute values to hardware.
 177  */
 178         virtual void write_mode(Tango::WAttribute &attr);
 179 /**
 180  *      Extract real attribute values for modeNames acquisition result.
 181  */
 182         virtual void read_modeNames(Tango::Attribute &attr);
 183 /**
 184  *      Read/Write allowed for position attribute.
 185  */
 186         virtual bool is_position_allowed(Tango::AttReqType type);
 187 /**
 188  *      Read/Write allowed for offset attribute.
 189  */
 190         virtual bool is_offset_allowed(Tango::AttReqType type);
 191 /**
 192  *      Read/Write allowed for IsInitialised attribute.
 193  */
 194         virtual bool is_IsInitialised_allowed(Tango::AttReqType type);
 195 /**
 196  *      Read/Write allowed for relativeMove attribute.
 197  */
 198         virtual bool is_relativeMove_allowed(Tango::AttReqType type);
 199 /**
 200  *      Read/Write allowed for mode attribute.
 201  */
 202         virtual bool is_mode_allowed(Tango::AttReqType type);
 203 /**
 204  *      Read/Write allowed for modeNames attribute.
 205  */
 206         virtual bool is_modeNames_allowed(Tango::AttReqType type);
 207 /**
 208  *      Execution allowed for Stop command.
 209  */
 210         virtual bool is_Stop_allowed(const CORBA::Any &any);
 211 /**
 212  *      Execution allowed for MotorOFF command.
 213  */
 214         virtual bool is_MotorOFF_allowed(const CORBA::Any &any);
 215 /**
 216  *      Execution allowed for MotorON command.
 217  */
 218         virtual bool is_MotorON_allowed(const CORBA::Any &any);
 219 /**
 220  *      Execution allowed for MotorInit command.
 221  */
 222         virtual bool is_MotorInit_allowed(const CORBA::Any &any);
 223 /**
 224  *      Execution allowed for ComputeNewOffset command.
 225  */
 226         virtual bool is_ComputeNewOffset_allowed(const CORBA::Any &any);
 227 /**
 228  *      Execution allowed for Backward command.
 229  */
 230         virtual bool is_Backward_allowed(const CORBA::Any &any);
 231 /**
 232  *      Execution allowed for Forward command.
 233  */
 234         virtual bool is_Forward_allowed(const CORBA::Any &any);
 235 /**
 236  *      Execution allowed for DefinePosition command.
 237  */
 238         virtual bool is_DefinePosition_allowed(const CORBA::Any &any);
 239 /**
 240  *      Execution allowed for InitializeReferencePosition command.
 241  */
 242         virtual bool is_InitializeReferencePosition_allowed(const CORBA::Any &any);
 243 /**
 244  *      Execution allowed for GetModeParameters command.
 245  */
 246         virtual bool is_GetModeParameters_allowed(const CORBA::Any &any);
 247 /**
 248  *      Execution allowed for SetModeParameters command.
 249  */
 250         virtual bool is_SetModeParameters_allowed(const CORBA::Any &any);
 251 /**
 252  * This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
 253  *      @return State Code
 254  *      @exception DevFailed
 255  */
 256         virtual Tango::DevState dev_state();
 257 /**
 258  * This command gets the device status (stored in its <i>device_status</i> data member) and returns it to the caller.
 259  *      @return Status description
 260  *      @exception DevFailed
 261  */
 262         virtual Tango::ConstDevString   dev_status();
 263 /**
 264  * Stop the pseudoAxes and all related axes.
 265  *      @exception DevFailed
 266  */
 267         void    stop();
 268 /**
 269  * Disable the pseudoAxis.
 270  *      @exception DevFailed
 271  */
 272         void    motor_off();
 273 /**
 274  * Activate the pseudoAxis
 275  *      @exception DevFailed
 276  */
 277         void    motor_on();
 278 /**
 279  * Some pseudoAxis must be initialized before we can used them.
 280  *      @exception DevFailed
 281  */
 282         void    motor_init();
 283 /**
 284  * The so smart program computes the offset to goal the user position.
 285  *      @param  argin   The new user position
 286  *      @exception DevFailed
 287  */
 288         void    compute_new_offset(Tango::DevDouble);
 289 /**
 290  * dummy command for V2 interface
 291  *      @exception DevFailed
 292  */
 293         void    backward();
 294 /**
 295  * dummy command for V2 interface
 296  *      @exception DevFailed
 297  */
 298         void    forward();
 299 /**
 300  * dummy command for V2 interface
 301  *      @param  argin
 302  *      @exception DevFailed
 303  */
 304         void    define_position(Tango::DevDouble);
 305 /**
 306  * dummy command for V2 interface
 307  *      @exception DevFailed
 308  */
 309         void    initialize_reference_position();
 310 /**
 311  * this command return for the current mode, its parameters.
 312  *      @return parameters names and values
 313  *      @exception DevFailed
 314  */
 315         Tango::DevVarDoubleStringArray  *get_mode_parameters();
 316 /**
 317  *
 318  *      @param  argin   The parameters to set
 319  *      @exception DevFailed
 320  */
 321         void    set_mode_parameters(const Tango::DevVarDoubleStringArray *);
 322
 323 /**
 324  *      Read the device properties from database
 325  */
 326          void get_device_property();
 327 //@}
 328
 329                         //      Here is the end of the automatic code generation part
 330                         //-------------------------------------------------------------
 331                         void set_hkl_library(Diffractometer_ns::TangoHKLAdapter* hkl_library);
 332
 333
 334                 protected :
 335                         //      Add your own data members here
 336                         //-----------------------------------------
 337                         Diffractometer_ns::PseudoAxisAdapter * _buffer;
 338                         Diffractometer_ns::TangoHKLAdapter * _hklAdapter;
 339         };
 340
 341 }       // namespace_ns
 342
 343 #endif  // _PSEUDOAXIS_H