feat: deactive ramp functionnality if enableRamps is false (don't create speed...

feat: deactive ramp functionnality if enableRamps is false (don't create speed and initial attributes at init, and set changes instantly)

src/SingleShotAO.cpp

@@ -361,7 +361,7 @@ void SingleShotAO::init_device()
 	//--------------------------------------------
 	try
 	{
-		m_manager->init(m_ssao, m_nb_chan, m_frequency);
+		m_manager->init(m_ssao, m_nb_chan, m_frequency, enableRamps);
 	}
 	catch (Tango::DevFailed & df)
 	{
@@ -443,6 +443,11 @@ void SingleShotAO::init_device()
 
 		l_dynAttrList.push_back(dai_channel);
 
+		// if enableRamps if false, skip speed and initial attributes
+		if (!enableRamps) {
+			DEBUG_STREAM << "Ramps are disabled. Skipping speed and initial attributes for channel " << l_cpt << std::endl;
+			continue;
+		}
 
 		// ╔═══════════════╗
 		// ║  Speed value  ║
@@ -535,12 +540,16 @@ void SingleShotAO::init_device()
 		};
 
 		// Get and set memorized values for speed, initial and channel
+		if (enableRamps) {
 			applyMemorizedAttr(kSPEED, &SingleShotAOManager::set_speed);
 			applyMemorizedAttr(kINITIAL, &SingleShotAOManager::set_initial); 
-		if (writeMemorizedValuesAtInit)
-			applyMemorizedAttr(kCHANNEL, &SingleShotAOManager::write_channel);
-		else
-			applyMemorizedAttr(kCHANNEL, &SingleShotAOManager::set_channel);
+		}
+
+		if (writeMemorizedValuesAtInit) {
+			applyMemorizedAttr(kCHANNEL, &SingleShotAOManager::write_channel); // write memorized value to board output
+		} else {
+			applyMemorizedAttr(kCHANNEL, &SingleShotAOManager::set_channel); // only apply memorized value to the device
+		}
     }
 
 	//- GO for task

src/SingleShotAOManager.cpp

@@ -128,7 +128,7 @@ void SingleShotAOManager::write_frequency(double p_frequency)
 // ============================================================================
 // SingleShotAOManager::init ()
 // ============================================================================ 
-void SingleShotAOManager::init(asl::SingleShotAO * p_ssao, unsigned short p_nb_chan, double p_frequency)
+void SingleShotAOManager::init(asl::SingleShotAO * p_ssao, unsigned short p_nb_chan, double p_frequency, bool p_enable_ramps)
 {
 	m_ssao = p_ssao;
 	CHECK_SSAO();
@@ -145,6 +145,8 @@ void SingleShotAOManager::init(asl::SingleShotAO * p_ssao, unsigned short p_nb_c
 		enable_periodic_msg(true);
 	}
 
+	m_enable_ramps = p_enable_ramps;
+
 	// initialize channel indexes (-1 means no ramp in progress)
 	// and ramp states
 	for (unsigned int l_cpt = 0; l_cpt < m_nb_chan; l_cpt++)
@@ -288,7 +290,7 @@ void SingleShotAOManager::write_channel(ChannelId_t p_chIdx, double p_val)
 	DEBUG_STREAM << "write_channel " << p_chIdx << " : " << p_val << endl;
 
 	// if the speed is 0, write the value directly and skip ramp
-	if (m_speeds[p_chIdx] == 0.0)
+	if (m_speeds[p_chIdx] == 0.0 || !m_enable_ramps)
 	{
 		try 
 		{
@@ -409,6 +411,12 @@ void SingleShotAOManager::set_initial(ChannelId_t p_chIdx, Intial_t p_initial)
 			"could not write initial : a ramp is still in progress on this channel",
 			"SingleShotAOManager::set_initial");
 	}
+	else if (!m_enable_ramps)
+	{
+		THROW_DEVFAILED("DEVICE_FAILURE",
+			"could not write initial : ramps are disabled",
+			"SingleShotAOManager::set_initial");
+	}
 	else
 	{
 		m_initials[p_chIdx] = p_initial;
@@ -434,6 +442,12 @@ void SingleShotAOManager::set_speed(ChannelId_t p_chIdx, Intial_t p_speed)
 			"could not write speed : a ramp is still in progress on this channel",
 			"SingleShotAOManager::set_speed");
 	}
+	else if (!m_enable_ramps)
+	{
+		THROW_DEVFAILED("DEVICE_FAILURE",
+			"could not write speed : ramps are disabled",
+			"SingleShotAOManager::set_speed");
+	}
 	else
 	{
 		m_speeds[p_chIdx] = p_speed;

src/SingleShotAOManager.h

@@ -48,7 +48,7 @@ public:
   std::string get_status ();
 
   //- init
-  void init(asl::SingleShotAO * p_ssao, unsigned short p_nb_chan, double p_frequency);
+  void init(asl::SingleShotAO *p_ssao, unsigned short p_nb_chan, double p_frequency, bool p_enable_ramps);
 
   //- get current channel value
   double get_channel(ChannelId_t p_chIdx);
@@ -101,6 +101,9 @@ private:
   //- frequency
   double m_frequency;
 
+  //-enable ramps
+  bool m_enable_ramps;
+
   //- initial buffer for all channels
   std::map<ChannelId_t, Intial_t> m_initials;