Integration tests II

doc/doc_html/Properties.html

@@ -82,6 +82,14 @@ Revision:  - Author: pascal_verdier
 <Td><Font Size=-1>Tango::DEV_DOUBLE</Font></Td>
 <Td><Font Size=-1>Wave length threshold for MOVING state, in operational unit.</Font></Td></Tr>
 
+<Tr><Td><b><a href=#Dev_DefaultValues>PollingPeriod </a></b></Td>
+<Td><Font Size=-1>Tango::DEV_DOUBLE</Font></Td>
+<Td><Font Size=-1>Polling period, in ms.</Font></Td></Tr>
+
+<Tr><Td><b><a href=#Dev_DefaultValues>ReadDelay </a></b></Td>
+<Td><Font Size=-1>Tango::DEV_DOUBLE</Font></Td>
+<Td><Font Size=-1>Read command delay, in ms. For expert only.</Font></Td></Tr>
+
 </Table>
 
 </Center>
@@ -115,6 +123,14 @@ Revision:  - Author: pascal_verdier
         <Td>WavelengthThreshold</Td>
         <td>0.1</td>
     </Tr>
+    <Tr>
+        <Td>PollingPeriod</Td>
+        <td>1000</td>
+    </Tr>
+    <Tr>
+        <Td>ReadDelay</Td>
+        <td>100</td>
+    </Tr>
 </Table>
 
 <Br><Br><Br>

src/CornerStone130.cpp

@@ -217,7 +217,8 @@ void CornerStone130::init_device()
 	
   DEBUG_STREAM << "CornerStone130::init_device - create hardware interface..." << std::endl;
   //- Instanciate the hardware interface
-        m_hwInterface = new HardwareInterface(this, gpibDeviceUrl, wavelengthThreshold);
+  m_hwInterface = new HardwareInterface(this, gpibDeviceUrl, wavelengthThreshold, 
+    pollingPeriod, readDelay);
 
 	if (!m_hwInterface)
 	{
@@ -316,6 +317,27 @@ void CornerStone130::init_device()
     return;
 	}
 
+  // start device task
+  try
+  {
+    DEBUG_STREAM << "CornerStone130::init_device - starting task..." << std::endl;
+    this->m_hwInterface->go();
+  }
+  catch (Tango::DevFailed & Err)
+  {
+		ERROR_STREAM << Err << std::endl;
+		m_curr_status = string(Err.errors[0].desc);
+    m_curr_state = Tango::FAULT;
+    return;
+  }
+  catch (...)
+  {
+		ERROR_STREAM << "CornerStone130::init_device - failed to start task!" << std::endl;
+		m_curr_state = Tango::FAULT;
+		m_curr_status = "Failed to start task, caught[...]!";
+    return;
+  }
+
 	//- initialization ok
 	//------------------------
 	m_init_device_done = true;
@@ -341,6 +363,8 @@ void CornerStone130::get_device_property()
 	dev_prop.push_back(Tango::DbDatum("OperationalUnit"));
 	dev_prop.push_back(Tango::DbDatum("GpibDeviceUrl"));
 	dev_prop.push_back(Tango::DbDatum("WavelengthThreshold"));
+	dev_prop.push_back(Tango::DbDatum("PollingPeriod"));
+	dev_prop.push_back(Tango::DbDatum("ReadDelay"));
 
 	//	Call database and extract values
 	//--------------------------------------------
@@ -406,6 +430,28 @@ void CornerStone130::get_device_property()
 	//	And try to extract WavelengthThreshold value from database
 	if (dev_prop[i].is_empty()==false)	dev_prop[i]  >>  wavelengthThreshold;
 
+	//	Try to initialize PollingPeriod from class property
+	cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+	if (cl_prop.is_empty()==false)	cl_prop  >>  pollingPeriod;
+	else {
+		//	Try to initialize PollingPeriod from default device value
+		def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+		if (def_prop.is_empty()==false)	def_prop  >>  pollingPeriod;
+	}
+	//	And try to extract PollingPeriod value from database
+	if (dev_prop[i].is_empty()==false)	dev_prop[i]  >>  pollingPeriod;
+
+	//	Try to initialize ReadDelay from class property
+	cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+	if (cl_prop.is_empty()==false)	cl_prop  >>  readDelay;
+	else {
+		//	Try to initialize ReadDelay from default device value
+		def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+		if (def_prop.is_empty()==false)	def_prop  >>  readDelay;
+	}
+	//	And try to extract ReadDelay value from database
+	if (dev_prop[i].is_empty()==false)	dev_prop[i]  >>  readDelay;
+
 
 
 	//	End of Automatic code generation
@@ -1086,4 +1132,5 @@ void CornerStone130::parse_filters_prop()
 	}	
 }
 
-}	//	namespace CornerStone130_ns
+
+}	//	namespace

src/CornerStone130.h

@@ -129,6 +129,14 @@ public :
  *	Wave length threshold for MOVING state, in operational unit.
  */
 	Tango::DevDouble	wavelengthThreshold;
+/**
+ *	Polling period, in ms.
+ */
+	Tango::DevDouble	pollingPeriod;
+/**
+ *	Read command delay, in ms. For expert only.
+ */
+	Tango::DevDouble	readDelay;
 //@}
 
 /**

src/CornerStone130Class.cpp

@@ -489,6 +489,36 @@ void CornerStone130Class::set_default_property()
 	else
 		add_wiz_dev_prop(prop_name, prop_desc);
 
+	prop_name = "PollingPeriod";
+	prop_desc = "Polling period, in ms.";
+	prop_def  = "1000";
+	vect_data.clear();
+	vect_data.push_back("1000");
+	if (prop_def.length()>0)
+	{
+		Tango::DbDatum	data(prop_name);
+		data << vect_data ;
+		dev_def_prop.push_back(data);
+		add_wiz_dev_prop(prop_name, prop_desc,  prop_def);
+	}
+	else
+		add_wiz_dev_prop(prop_name, prop_desc);
+
+	prop_name = "ReadDelay";
+	prop_desc = "Read command delay, in ms. For expert only.";
+	prop_def  = "100";
+	vect_data.clear();
+	vect_data.push_back("100");
+	if (prop_def.length()>0)
+	{
+		Tango::DbDatum	data(prop_name);
+		data << vect_data ;
+		dev_def_prop.push_back(data);
+		add_wiz_dev_prop(prop_name, prop_desc,  prop_def);
+	}
+	else
+		add_wiz_dev_prop(prop_name, prop_desc);
+
 }
 //+----------------------------------------------------------------------------
 //

src/HardwareInterface.h

@@ -13,10 +13,10 @@
 // DEPENDENCIES
 //============================================================================
 #include <tango.h>
-#include <yat4tango/ExceptionHelper.h>
-#include <yat4tango/LogHelper.h>
+#include <yat4tango/DeviceTask.h>
 #include "TypesAndConsts.h"
 
+
 namespace CornerStone130_ns {
 
 // ============================================================================
@@ -85,9 +85,10 @@ typedef struct cs130ErrDataType
   std::string csErrDesc; // error description
 } cs130ErrDataType;
 
-const size_t kERRORS_SIZE = 9;
+const size_t kERRORS_SIZE = 10;
 static const cs130ErrDataType error_tab[kERRORS_SIZE] = 
 {
+  {0,  "System error"},
   {1,  "Command not understood"},
   {2,  "Bad parameter used in Command"},
 	{3,  "Destination position for wavelength motion not allowed."},	
@@ -99,16 +100,30 @@ static const cs130ErrDataType error_tab[kERRORS_SIZE] =
 	{9,  "Label too long"}
 };
 
+// ============================================================================
+// SOME USER DEFINED MESSAGES FOR THE TASK
+// ============================================================================
+#define kSET_WAVE_LENGTH_MSG      (yat::FIRST_USER_MSG + 1001)
+#define kSET_FILTER_MSG           (yat::FIRST_USER_MSG + 1002)
+#define kSET_GRATING_MSG          (yat::FIRST_USER_MSG + 1003)
+#define kSHUTTER_STATE_MSG        (yat::FIRST_USER_MSG + 1004)
+#define kABORT_MSG                (yat::FIRST_USER_MSG + 1005)
+
+//-----------------------------------------------------------------------------
+//- Default timeout value for task messages (in ms):
+#define kDEFAULT_CMD_TMO 1000
+
 // ============================================================================
 // class: HardwareInterface
 // ============================================================================
-class HardwareInterface : public Tango::LogAdapter
+class HardwareInterface : public yat4tango::DeviceTask
 {
 
 public:
 
   //- Constructor
-  HardwareInterface (Tango::DeviceImpl * host_device, std::string gpib_device, double wl_threashold);
+  HardwareInterface (Tango::DeviceImpl * host_device, std::string gpib_device, 
+    double wl_threashold, double polling_period, double read_delay);
 
   //- Destructor
   ~HardwareInterface ();
@@ -129,24 +144,20 @@ public:
     throw (Tango::DevFailed);
 
   //- Gets current grating label
-  std::string get_grating_label() 
-    throw (Tango::DevFailed);
+  std::string get_grating_label();
   
   //- Gets current grating number
-  yat::uint16 get_grating_nb() 
-    throw (Tango::DevFailed);
+  yat::uint16 get_grating_nb();
 	
   //- Sets new grating number
   void set_grating_nb(yat::uint16 gratNb) 
     throw (Tango::DevFailed);
 	
   //- Gets current filter label
-  std::string get_filter_label() 
-    throw (Tango::DevFailed);
+  std::string get_filter_label();
 	
   //- Gets current filter number
-  yat::uint16 get_filter_nb() 
-    throw (Tango::DevFailed);
+  yat::uint16 get_filter_nb();
 	
   //- Sets new filter number
   void set_filter_nb(yat::uint16 filterNb) 
@@ -160,13 +171,11 @@ public:
   void set_wavelength(double wl)
 	  throw (Tango::DevFailed);
 
-  //- Gets the wavelength
-  double get_wavelength()
-	  throw (Tango::DevFailed);
+  //- Gets the current wavelength
+  double get_wavelength();
 
-  //- Gets the shutter state 
-  E_shutter_state_t get_shutter_state()
-	  throw (Tango::DevFailed);
+  //- Gets the current shutter state 
+  E_shutter_state_t get_shutter_state();
 	
   //- Sets the shutter state 
   void set_shutter_state(E_shutter_state_t st)
@@ -176,6 +185,11 @@ public:
   void abort()
 	  throw (Tango::DevFailed);
  
+protected:
+	//- process_message (implements yat4tango::DeviceTask pure virtual method)
+	virtual void process_message (yat::Message& msg)
+		throw (Tango::DevFailed);
+
 private:
   //- Gpib device proxy
   Tango::DeviceProxy * m_gpibProxy;
@@ -190,17 +204,32 @@ private:
   //- com ok flag
   bool m_init_ok;
   
-  //- current grating number
+  //- current grating number & label
   yat::uint16 m_grating_number;
+  std::string m_grating_label;
 
-  //- current filter number
-	yat::uint16 m_filter_nb;
+  //- current filter number & label
+	yat::uint16 m_filter_number;
+  std::string m_filter_label;
 
   //- wavelength parameters for MOVING state computation
   double m_wavelength_setpoint; // setpoint
   double m_wavelength_readback; // readback value
   double m_wavelength_threshold; // threshold
 
+  //- current shutter state
+  E_shutter_state_t m_shutter_st;
+
+  //- polling period in ms
+  double m_polling_period;
+
+  //- read delay in ms
+  double m_read_delay;
+
+  //- mutex protection
+  yat::Mutex m_dataLock;
+
+
   //- internal functions
   //-----------------------
 
@@ -209,6 +238,44 @@ private:
   //- else, returns false
   bool check_error(std::string& err_msg);
 
+  //- periodic job
+  void periodic_job_i();
+
+  //- Sets new grating number
+  void set_grating_nb_i(yat::uint16 gratNb) 
+    throw (Tango::DevFailed);
+
+  //- Sets new filter number
+  void set_filter_nb_i(yat::uint16 filterNb) 
+    throw (Tango::DevFailed);
+	
+  //- Sets the new wavelength value
+  void set_wavelength_i(double wl)
+	  throw (Tango::DevFailed);
+
+  //- Sets the shutter state 
+  void set_shutter_state_i(E_shutter_state_t st)
+	  throw (Tango::DevFailed);
+	
+  //- abort command
+  void abort_i()
+	  throw (Tango::DevFailed);
+
+  //- update functions
+  void update_grating_label()
+    throw (Tango::DevFailed);
+  void update_grating_nb()
+    throw (Tango::DevFailed);
+  void update_filter_label()
+    throw (Tango::DevFailed);
+  void update_filter_nb()
+    throw (Tango::DevFailed);
+  void update_wavelength()
+	  throw (Tango::DevFailed);
+  void update_shutter_state()
+    throw (Tango::DevFailed);
+  void update_state_and_status();
+
 };
 
 }