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Commit ab44094b authored by Arafat Nourredine's avatar Arafat Nourredine
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Add MotionProxyDevice module (helper for GalilAxis device)

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include/MotionProxyDevice.h 0 → 100644
+ 95
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View file @ ab44094b
#ifndef _MOTIONPROXYDEVICE_H_
#define _MOTIONPROXYDEVICE_H_
// ============================================================================
//
// = CONTEXT
// Utility class - Implementation of class encapsulating creation and control
// of a Tango device proxy to a simple Rotation, Translation motors
//
// = File
// MotionProxyDevice.h
//
// = AUTHOR
// Arafat NOUREDDINE - Synchrotron SOLEIL
//
// ============================================================================
#include <tango.h>
#include <TangoExceptionsHelper.h>
#include <DeviceProxyHelper.h>
using namespace std;
class MotionProxyDevice : public Tango::LogAdapter
{
public:
//- ctor
MotionProxyDevice( const string sProxyName,
const string sDescription,
Tango::DeviceImpl * _device)
throw (Tango::DevFailed) ;
//- dtor
virtual ~MotionProxyDevice();
//- 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);
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:
};
////////////////////////////////////////////////////////////////////////////////
#endif // _MOTIONPROXYDEVICE_H_
pom.xml
+ 1
− 1
View file @ ab44094b
......@@ -11,7 +11,7 @@
<groupId>fr.soleil.lib</groupId>
<artifactId>Utils-${aol}-${library}-${mode}</artifactId>
<version>1.2.0</version>
<version>1.2.1-SNAPSHOT</version>
<packaging>nar</packaging>
......
src/MotionProxyDevice.cpp 0 → 100644
+ 501
− 0
View file @ ab44094b
// ============================================================================
//
// = CONTEXT
// Utility class - Implementation of class encapsulating creation and control
// of a Tango device proxy to a simple Rotation, Translation motors
//
// = File
// MotionProxyDevice.cpp
//
// = AUTHOR
// Arafat NOUREDDINE - Synchrotron SOLEIL
//
// ============================================================================
#include <MotionProxyDevice.h>
//////////////////////////////////////////////////////////////////////////////////////
//-ctor
//////////////////////////////////////////////////////////////////////////////////////
MotionProxyDevice::MotionProxyDevice( const string sProxyName,
const string sDescription,
Tango::DeviceImpl * _device)
throw (Tango::DevFailed)
: Tango::LogAdapter((Tango::DeviceImpl *)_device)
{
DEBUG_STREAM << "MotionProxyDevice::MotionProxyDevice() [ "<< sDescription<< " ] entering... " << endl;
//Init. members
_sProxyName = sProxyName;
_sDescription = sDescription;
_sAttributePositionName = "position";
_sAttributeBLSWName = "backwardLimitSwitch";
_sAttributeFLSWName = "forwardLimitSwitch";
_sCommandStateName = "State";
_sCommandStatusName = "Status";
_sCommandStopName = "Stop";
_sCommandForwardName = "Forward";
_sCommandBackwardName = "Backward";
_mProxy = 0;
//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&)
{
//ERROR_STREAM << "Bad alloc Exception" << ENDLOG;
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*>("MotionProxyDevice::MotionProxyDevice()")
);
}
catch (Tango::DevFailed& e)
{
_mProxy = 0;
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::MotionProxyDevice()")
);
}
catch(...)
{
_mProxy = 0;
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::MotionProxyDevice()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-dtor
//////////////////////////////////////////////////////////////////////////////////////
MotionProxyDevice::~MotionProxyDevice()
{
DEBUG_STREAM << "MotionProxyDevice::~MotionProxyDevice() [ "<< _sDescription<< " ] entering... " << endl;
delete _mProxy;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyDevice::Move(double dMotorValue)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::Move() [ "<< _sDescription<< " ] entering... " << endl;
try
{
if(_mProxy!=0)
_mProxy->write_attribute(_sAttributePositionName.c_str(),dMotorValue);
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::Move()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::Move()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyDevice::Stop(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::Stop() [ "<< _sDescription<< " ] entering... " << endl;
try
{
if(_mProxy!=0)
_mProxy->command(_sCommandStopName.c_str());
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::Stop()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::Stop()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyDevice::Forward(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::Forward() [ "<< _sDescription<< " ] entering... " << endl;
try
{
if(_mProxy!=0)
_mProxy->command(_sCommandForwardName.c_str());
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::Forward()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::Forward()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
void MotionProxyDevice::Backward(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::Backward() [ "<< _sDescription<< " ] entering... " << endl;
try
{
if(_mProxy!=0)
_mProxy->command(_sCommandBackwardName.c_str());
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::Backward()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::Backward()")
);
}
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
double MotionProxyDevice::Read(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::Read() [ "<< _sDescription<< " ] entering... " << endl;
double dMotorValue=0.0;
try
{
if(_mProxy!=0)
_mProxy->read_attribute(_sAttributePositionName.c_str(),dMotorValue);
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::Read()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::Read()")
);
}
return dMotorValue;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
double MotionProxyDevice::ReadW(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::ReadW() [ "<< _sDescription<< " ] entering... " << endl;
double dMotorValue=0.0;
try
{
if(_mProxy!=0)
_mProxy->read_attribute_w(_sAttributePositionName.c_str(),dMotorValue);
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::ReadW()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::ReadW()")
);
}
return dMotorValue;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
bool MotionProxyDevice::ReadBLSW(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::ReadBLSW() [ "<< _sDescription<< " ] entering... " << endl;
bool bBLSWValue = false;
try
{
if(_mProxy!=0)
_mProxy->read_attribute(_sAttributeBLSWName.c_str(),bBLSWValue);
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::ReadBLSW()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::ReadBLSW()")
);
}
return bBLSWValue;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
bool MotionProxyDevice::ReadFLSW(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::ReadFLSW() [ "<< _sDescription<< " ] entering... " << endl;
bool bFLSWValue = false;
try
{
if(_mProxy!=0)
_mProxy->read_attribute(_sAttributeFLSWName.c_str(),bFLSWValue);
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::ReadFLSW()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::ReadFLSW()")
);
}
return bFLSWValue;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
Tango::DevState MotionProxyDevice::State(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::State() [ "<< _sDescription<< " ] entering... " << endl;
Tango::DevState MotorState = Tango::STANDBY;
try
{
if(_mProxy!=0)
_mProxy->command_out(_sCommandStateName.c_str(),MotorState);
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::State()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::State()")
);
}
return MotorState;
}
//////////////////////////////////////////////////////////////////////////////////////
//-
//////////////////////////////////////////////////////////////////////////////////////
string MotionProxyDevice::Status(void)
throw (Tango::DevFailed)
{
DEBUG_STREAM << "MotionProxyDevice::State() [ "<< _sDescription<< " ] entering... " << endl;
string MotorStatus = "STANDBY";
try
{
if(_mProxy!=0)
_mProxy->command_out(_sCommandStatusName.c_str(),MotorStatus);
}
catch (Tango::DevFailed& e)
{
//ERROR_STREAM << e << ENDLOG;
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*>("MotionProxyDevice::Status()")
);
}
catch(...)
{
//ERROR_STREAM << "Unknown Exception" << ENDLOG;
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*>("MotionProxyDevice::Status()")
);
}
return MotorStatus;
}
//////////////////////////////////////////////////////////////////////////////////////
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