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// ============================================================================
//
// = CONTEXT
// Utility class - Implementation of a class encapsulating creation and control
// of a Tango device proxy to a standard soleil motor
//
// = File
// MotionProxyHelper.cpp
//
// = AUTHOR
// Arafat NOUREDDINE - Synchrotron SOLEIL
// F. Langlois - Synchrotron SOLEIL
//
// ============================================================================
#include <MotionProxyHelper.h>
namespace mph
{
//////////////////////////////////////////////////////////////////////////////////////
//-ctor
//////////////////////////////////////////////////////////////////////////////////////
MotionProxyHelper::MotionProxyHelper( const string sProxyName,
const string sDescription,
Tango::DeviceImpl * _device)
throw (Tango::DevFailed)
: Tango::LogAdapter((Tango::DeviceImpl *)_device)
{
DEBUG_STREAM << "MotionProxyHelper::MotionProxyHelper():1 [ "<< sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
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//Init. members
_sProxyName = sProxyName;
_sDescription = sDescription;
_sAttributePositionName = "position";
_sAttributeBLSWName = "backwardLimitSwitch";
_sAttributeFLSWName = "forwardLimitSwitch";
_sCommandStateName = "State";
_sCommandStatusName = "Status";
_sCommandStopName = "Stop";
_sCommandForwardName = "Forward";
_sCommandBackwardName = "Backward";
_mProxy = NULL;
_bAllowMove = true;
//fake motion proxy, nothing to do
if(sProxyName == "none/none/none")
return;
//create proxy to the device
try
{
_mProxy = new Tango::DeviceProxyHelper(sProxyName.c_str());
if(_mProxy==0)
throw std::bad_alloc();
else
_mProxy->get_device_proxy()->ping();
}
catch (const std::bad_alloc&)
{
TangoSys_OMemStream o;
o << "Unable to create proxy to " << _sDescription << " --> Memory allocation exception !" << endl;
Tango::Except::throw_exception
(
static_cast<const char*>("OUT_OF_MEMORY"),
static_cast<const char*>(o.str().c_str()),
static_cast<const char*>("MotionProxyHelper::MotionProxyHelper()")
);
}
catch (Tango::DevFailed& e)
{
_mProxy = 0;
TangoSys_OMemStream o;
o << "Unable to create proxy to " << _sDescription << " --> check the Device proxy Name (" << _sProxyName << ") !" << 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::MotionProxyHelper()")
);
}
catch(...)
{
_mProxy = 0;
TangoSys_OMemStream o;
o << "Unable to create proxy to " << _sDescription << " --> check the Device proxy Name (" << _sProxyName << ") !" << endl;
Tango::Except::throw_exception
(
static_cast<const char*>("UNKNOWN_ERROR"),
static_cast<const char*>(o.str().c_str()),
static_cast<const char*>("MotionProxyHelper::MotionProxyHelper()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-ctor
//////////////////////////////////////////////////////////////////////////////////////
MotionProxyHelper::MotionProxyHelper( const string sProxyName,
const string sDescription,
const string sAttributePositionName ,
const string sCommandStateName,
const string sCommandStopName,
Tango::DeviceImpl * _device)
throw (Tango::DevFailed)
: Tango::LogAdapter((Tango::DeviceImpl *)_device)
{
DEBUG_STREAM << "MotionProxyHelper::MotionProxyHelper():2 [ "<< sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
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//Init. members
_sProxyName = sProxyName;
_sDescription = sDescription;
_sAttributePositionName = sAttributePositionName;
_sAttributeBLSWName = "backwardLimitSwitch";
_sAttributeFLSWName = "forwardLimitSwitch";
_sCommandStateName = sCommandStateName;
_sCommandStatusName = "Status";
_sCommandStopName = sCommandStopName;
_sCommandForwardName = "Forward";
_sCommandBackwardName = "Backward";
_mProxy = NULL;
_bAllowMove = true;
//fake motion proxy, nothing to do
if(sProxyName == "none/none/none")
return;
//create proxy to the device
try
{
_mProxy = new Tango::DeviceProxyHelper(sProxyName.c_str());
if(_mProxy==0)
throw std::bad_alloc();
else
_mProxy->get_device_proxy()->ping();
}
catch (const std::bad_alloc&)
{
TangoSys_OMemStream o;
o << "Unable to create proxy to " << _sDescription << " --> Memory allocation exception !" << endl;
Tango::Except::throw_exception
(
static_cast<const char*>("OUT_OF_MEMORY"),
static_cast<const char*>(o.str().c_str()),
static_cast<const char*>("MotionProxyHelper::MotionProxyHelper()")
);
}
catch (Tango::DevFailed& e)
{
_mProxy = 0;
TangoSys_OMemStream o;
o << "Unable to create proxy to " << _sDescription << " --> check the Device proxy Name (" << _sProxyName << ") !" << 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::MotionProxyHelper()")
);
}
catch(...)
{
_mProxy = 0;
TangoSys_OMemStream o;
o << "Unable to create proxy to " << _sDescription << " --> check the Device proxy Name (" << _sProxyName << ") !" << endl;
Tango::Except::throw_exception
(
static_cast<const char*>("UNKNOWN_ERROR"),
static_cast<const char*>(o.str().c_str()),
static_cast<const char*>("MotionProxyHelper::MotionProxyHelper()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-dtor
//////////////////////////////////////////////////////////////////////////////////////
MotionProxyHelper::~MotionProxyHelper()
{
DEBUG_STREAM << "MotionProxyHelper::~MotionProxyHelper() [ "<< _sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
delete _mProxy;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyHelper::Move(double dMotorValue)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::Move() [ "<< _sDescription<< " ] entering... " << "_bAllowMove: " << _bAllowMove;
yat::MutexLock scoped_lock(_lock);
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if (_bAllowMove)
{
try
{
if(_mProxy!=NULL)
_mProxy->write_attribute(_sAttributePositionName.c_str(),dMotorValue);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to write attribute "<<_sAttributePositionName <<" 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::Move()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to write attribute "<<_sAttributePositionName <<" 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::Move()")
);
}
}
else
{
DEBUG_STREAM << "MotionProxyHelper::Move() (Moving is disabled)" << endl;
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyHelper::Stop(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::Stop() [ "<< _sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
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try
{
if(_mProxy!=NULL)
_mProxy->command(_sCommandStopName.c_str());
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandStopName <<" 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::Stop()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandStopName <<" 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::Stop()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyHelper::Forward(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::Forward() [ "<< _sDescription<< " ] entering... " << "_bAllowMove: " << _bAllowMove;
yat::MutexLock scoped_lock(_lock);
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if (_bAllowMove)
{
try
{
if(_mProxy!=NULL)
_mProxy->command(_sCommandForwardName.c_str());
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandForwardName <<" 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::Forward()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandForwardName <<" 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::Forward()")
);
}
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyHelper::Backward(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::Backward() [ "<< _sDescription<< " ] entering... " << "_bAllowMove: " << _bAllowMove;
yat::MutexLock scoped_lock(_lock);
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if (_bAllowMove)
{
try
{
if(_mProxy!=NULL)
_mProxy->command(_sCommandBackwardName.c_str());
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandBackwardName <<" 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::Backward()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandBackwardName <<" 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::Backward()")
);
}
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
double MotionProxyHelper::Read(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::Read() [ "<< _sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
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double dMotorValue=0.0;
try
{
if(_mProxy!=NULL)
_mProxy->read_attribute(_sAttributePositionName.c_str(),dMotorValue);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributePositionName <<" 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::Read()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributePositionName <<" 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::Read()")
);
}
return dMotorValue;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
double MotionProxyHelper::ReadW(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::ReadW() [ "<< _sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
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double dMotorValue=0.0;
try
{
if(_mProxy!=NULL)
_mProxy->read_attribute_w(_sAttributePositionName.c_str(),dMotorValue);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributePositionName <<" 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::ReadW()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributePositionName <<" 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::ReadW()")
);
}
return dMotorValue;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
bool MotionProxyHelper::ReadBLSW(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::ReadBLSW() [ "<< _sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
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bool bBLSWValue = false;
try
{
if(_mProxy!=NULL)
_mProxy->read_attribute(_sAttributeBLSWName.c_str(),bBLSWValue);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributeBLSWName <<" 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::ReadBLSW()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributeBLSWName <<" 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::ReadBLSW()")
);
}
return bBLSWValue;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
bool MotionProxyHelper::ReadFLSW(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::ReadFLSW() [ "<< _sDescription<< " ] entering... " << endl;
yat::MutexLock scoped_lock(_lock);
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bool bFLSWValue = false;
try
{
if(_mProxy!=NULL)
_mProxy->read_attribute(_sAttributeFLSWName.c_str(),bFLSWValue);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributeFLSWName <<" 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::ReadFLSW()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to read attribute "<<_sAttributeFLSWName <<" 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::ReadFLSW()")
);
}
return bFLSWValue;
}
//------------------------------------------------------------------------------
/// return the state of the device
/*!
@return DevState value
*/
//------------------------------------------------------------------------------
Tango::DevState MotionProxyHelper::State(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::State() [ "<< _sDescription<< " ] entering... " << "_bAllowMove: " << _bAllowMove;
yat::MutexLock scoped_lock(_lock);
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Tango::DevState MotorState = Tango::STANDBY;
if (_bAllowMove)
{
try
{
if(_mProxy!=NULL)
_mProxy->command_out(_sCommandStateName.c_str(),MotorState);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandStateName <<" 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::State()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandStateName <<" 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::State()")
);
}
}
return MotorState;
}
//------------------------------------------------------------------------------
/// return the current status status of the motor
/*!
@return status message string
*/
//------------------------------------------------------------------------------
string MotionProxyHelper::Status(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::State() [ "<< _sDescription<< " ] entering... " << "_bAllowMove: " << _bAllowMove;
yat::MutexLock scoped_lock(_lock);
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string MotorStatus = "STANDBY";
if (_bAllowMove)
{
try
{
if(_mProxy!=NULL)
_mProxy->command_out(_sCommandStatusName.c_str(),MotorStatus);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandStatusName <<" 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::Status()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<_sCommandStatusName <<" 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::Status()")
);
}
return MotorStatus;
}
}
//------------------------------------------------------------------------------
/// Execute a command of the device
//------------------------------------------------------------------------------
void MotionProxyHelper::Command(const string & cmd_name) ///< [in] name of the command to execute
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyHelper::Command("<<cmd_name<<") [ "<< _sDescription<< " ] entering... " << "_bAllowMove: " << _bAllowMove;
yat::MutexLock scoped_lock(_lock);
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if (_bAllowMove)
{
try
{
if(_mProxy!=NULL)
_mProxy->command(cmd_name);
}
catch (Tango::DevFailed& e)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<cmd_name <<" 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::Command()")
);
}
catch(...)
{
TangoSys_OMemStream o;
o << "Unable to execute command "<<cmd_name <<" 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::Command()")
);
}
}
}
//------------------------------------------------------------------------------
/// Change the value of _bAllowMove.
/// This boolean controls wether or not any motor will be actually set in motion.
//------------------------------------------------------------------------------
void MotionProxyHelper::AllowMove(const bool bAllowMove)
{
DEBUG_STREAM << "MotionProxyHelper::[" << _sDescription<< "]::AllowMove(" << bAllowMove << ")";
yat::MutexLock scoped_lock(_lock);
_bAllowMove = bAllowMove;
}
}