MotionProxyHelper.h

#ifndef _MotionProxyHelper_H_
#define _MotionProxyHelper_H_
// ============================================================================
//
// = CONTEXT
//      Utility class - Implementation of a class encapsulating creation and control
//                      of a Tango device proxy to a standard soleil motor
//
// = File
//      MotionProxyHelper.h
//
// = AUTHOR
//      Arafat NOUREDDINE - Synchrotron SOLEIL
//      F. Langlois - Synchrotron SOLEIL
//
// ============================================================================
#include <tango.h>
#include <TangoExceptionsHelper.h>
#include <DeviceProxyHelper.h>
#include <yat/threading/Mutex.h>

using namespace std;
namespace mph
{
    
class  MotionProxyHelper : public Tango::LogAdapter
{
public:

    //- ctor 
    MotionProxyHelper(  const string sProxyName,
                        const string sDescription,
                        Tango::DeviceImpl * _device)
    throw (Tango::DevFailed) ;

    //- ctor
    MotionProxyHelper(  const string sProxyName,
                        const string sDescription,
                        const string sAttributePositionName ,
                        const string sCommandStateName,
                        const string sCommandStopName,
                        Tango::DeviceImpl * _device)
    throw (Tango::DevFailed) ;
    
    //- dtor 
    virtual ~MotionProxyHelper();
    
    //- Move motor to a new position
    virtual void Move(double)
    throw (Tango::DevFailed);

    //- Stop the motor
    virtual void Stop(void)
    throw (Tango::DevFailed);
    
    //- Forward the motor
    virtual void Forward(void)
    throw (Tango::DevFailed);
    
    //- Backward the motor
    virtual void Backward(void)
    throw (Tango::DevFailed);
    
    //- Read the read part of the attribute "attributePositionName" associated to the motor (call read_attribute)
    virtual double Read(void)
    throw (Tango::DevFailed);

    //- Read the write part of the attribute "attributePositionName" associated to the motor (call read_attribute_w)
    virtual double ReadW(void)
    throw (Tango::DevFailed);

    //- Read the the attribute "attributeBLSWName" associated to the motor (call read_attribute)
    bool ReadBLSW(void)
    throw (Tango::DevFailed);
    
    //- Read the the attribute "attributeFLSWName" associated to the motor (call read_attribute)
    bool ReadFLSW(void)
    throw (Tango::DevFailed);

    //- Read the state of the motor
    virtual Tango::DevState State(void)
    throw (Tango::DevFailed);
    
    //- Read the status of the motor
    string Status(void)
    throw (Tango::DevFailed);
    
    void AllowMove(const bool bAllowMove);

    //---------------------------------------------------------------------------------------------------------------
    // generic methods, intented to manipulate any command/attribute
    //---------------------------------------------------------------------------------------------------------------

    //- Execute any simple command without arg
    void Command(const string & cmd)
    throw (Tango::DevFailed);

    //- Execute any simple command with arg
    template <typename T>
    void Command(const string & cmd, T value)
    throw (Tango::DevFailed);

    //- Write on any attribute
    template <typename T>
    void WriteAttribute(const string & cmd, T value)
    throw (Tango::DevFailed);

    //- Read any attribute
    template <typename T>
    T ReadAttribute(const string & cmd)
    throw (Tango::DevFailed);
    

protected:
    Tango::DeviceProxyHelper*   _mProxy;
    string                      _sProxyName;
    string                      _sDescription;
    string                      _sAttributePositionName;
    string                      _sAttributeBLSWName;
    string                      _sAttributeFLSWName;
    string                      _sCommandStateName;
    string                      _sCommandStatusName;    
    string                      _sCommandStopName;
    string                      _sCommandForwardName;
    string                      _sCommandBackwardName;  
private:    
    bool                        _bAllowMove;
    yat::Mutex                  _lock;    

};

//-
template <typename T>
void MotionProxyHelper::Command(const string & cmd_name, T arg)
throw (Tango::DevFailed)
{
    DEBUG_STREAM << "MotionProxyHelper::Command("<<cmd_name<<","<<arg<<") [ "<< _sDescription<< " ] entering...  "  << endl;
    try
    {
        if(_mProxy!=0)
            _mProxy->command_in(cmd_name.c_str(),arg);
    }
    catch (Tango::DevFailed& e)
    {
        //ERROR_STREAM << e << ENDLOG;
        TangoSys_OMemStream o;
        o << "Unable to execute command "<<cmd_name<<" with arg "<<arg <<" on the device " << _sDescription << " !" << endl;
        Tango::Except::re_throw_exception
            ( e,
              static_cast<const char*>("TANGO_DEVICE_ERROR"),
              static_cast<const char*>(o.str().c_str()),
              static_cast<const char*>("MotionProxyHelper::Command()")
            );
    }
    catch(...)
    {
        //ERROR_STREAM << "Unknown Exception" << ENDLOG;
        TangoSys_OMemStream o;
        o << "Unable to execute command "<<cmd_name<<" with arg "<<arg <<" on the device " << _sDescription << " !" << endl;
        Tango::Except::throw_exception
            (
            static_cast<const char*>("UNKNOWN_ERROR"),
            static_cast<const char*>(o.str().c_str()),
            static_cast<const char*>("MotionProxyHelper::Command()")
            );
    }
}

//-
template <typename T>
void MotionProxyHelper::WriteAttribute(const string & attr_name, T value)
throw (Tango::DevFailed)
{
    DEBUG_STREAM << "MotionProxyHelper::WriteAttribute("<<attr_name<<","<<value<<") [ "<< _sDescription<< " ] entering...  "  << endl;
    try
    {
        if(_mProxy!=0)
            _mProxy->write_attribute(attr_name.c_str(),value);
    }
    catch (Tango::DevFailed& e)
    {
        //ERROR_STREAM << e << ENDLOG;
        TangoSys_OMemStream o;
        o << "Unable to write "<<value<<" on "<<attr_name <<"attribute of the device " << _sDescription << " !" << endl;
        Tango::Except::re_throw_exception
            ( e,
              static_cast<const char*>("TANGO_DEVICE_ERROR"),
              static_cast<const char*>(o.str().c_str()),
              static_cast<const char*>("MotionProxyHelper::WriteAttribute()")
            );
    }
    catch(...)
    {
        //ERROR_STREAM << "Unknown Exception" << ENDLOG;
        TangoSys_OMemStream o;
        o << "Unable to write "<<value<<" on "<<attr_name <<" attribute of the device " << _sDescription << " !" << endl;
        Tango::Except::throw_exception
            (
            static_cast<const char*>("UNKNOWN_ERROR"),
            static_cast<const char*>(o.str().c_str()),
            static_cast<const char*>("MotionProxyHelper::WriteAttribute()")
            );
    }
}

//-
template <typename T>
T MotionProxyHelper::ReadAttribute(const string & attr_name)
throw (Tango::DevFailed)
{
    DEBUG_STREAM << "MotionProxyHelper::ReadAttribute("<<attr_name<<") [ "<< _sDescription<< " ] entering...  "  << endl;
    T value = 0.;
    try
    {
        if(_mProxy!=0)
            _mProxy->read_attribute(attr_name.c_str(),value);
    }
    catch (Tango::DevFailed& e)
    {
        //ERROR_STREAM << e << ENDLOG;
        TangoSys_OMemStream o;
        o << "Unable to read "<<attr_name <<"attribute of the device " << _sDescription << " !" << endl;
        Tango::Except::re_throw_exception
            ( e,
              static_cast<const char*>("TANGO_DEVICE_ERROR"),
              static_cast<const char*>(o.str().c_str()),
              static_cast<const char*>("MotionProxyHelper::ReadAttribute()")
            );
    }
    catch(...)
    {
        //ERROR_STREAM << "Unknown Exception" << ENDLOG;
        TangoSys_OMemStream o;
        o << "Unable to read "<<attr_name <<" attribute of the device " << _sDescription << " !" << endl;
        Tango::Except::throw_exception
            (
            static_cast<const char*>("UNKNOWN_ERROR"),
            static_cast<const char*>(o.str().c_str()),
            static_cast<const char*>("MotionProxyHelper::ReadAttribute()")
            );
    }
    return value;
}
}


#endif // _MotionProxyHelper_H_