From a6daeef3f0f14b53fc87feb99c51ca25cd624a3c Mon Sep 17 00:00:00 2001
From: MALFREYT <alexandre.malfreyt@synchrotron-soleil.fr>
Date: Thu, 20 Feb 2025 17:39:46 +0100
Subject: [PATCH] refactor: improve code readability and structure in
SingleShotAOManager
---
src/SingleShotAOManager.cpp | 247 ++++++++++++++++++------------------
1 file changed, 123 insertions(+), 124 deletions(-)
diff --git a/src/SingleShotAOManager.cpp b/src/SingleShotAOManager.cpp
index 6e6c2e7..7e70818 100755
--- a/src/SingleShotAOManager.cpp
+++ b/src/SingleShotAOManager.cpp
@@ -145,12 +145,12 @@ void SingleShotAOManager::init(asl::SingleShotAO * p_ssao, unsigned short p_nb_c
enable_periodic_msg(true);
}
- // 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++)
+ // 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++)
{
m_currentIndex[l_cpt] = -1;
- m_isRunning[l_cpt] = false;
+ m_isRunning[l_cpt] = false;
}
}
@@ -164,36 +164,39 @@ void SingleShotAOManager::process_message (yat::Message& msg)
switch (msg.type())
{
//- THREAD_INIT ----------------------
- case yat::TASK_INIT:
+ case yat::TASK_INIT:
{
DEBUG_STREAM << "SingleShotAOManager::handle_message::THREAD_INIT::thread is starting up" << std::endl;
}
break;
//- THREAD_EXIT ----------------------
- case yat::TASK_EXIT:
+ case yat::TASK_EXIT:
{
DEBUG_STREAM << "SingleShotAOManager::handle_message::THREAD_EXIT::thread is quitting" << std::endl;
}
break;
//- THREAD_PERIODIC ------------------
- case yat::TASK_PERIODIC:
+ case yat::TASK_PERIODIC:
{
periodic_job_i();
}
break;
//- THREAD_TIMEOUT -------------------
- case yat::TASK_TIMEOUT:
+ case yat::TASK_TIMEOUT:
{
//- not used in this example
}
break;
+
//- UNHANDLED MSG --------------------
- default:
- DEBUG_STREAM << "SingleShotAOManager::handle_message::unhandled msg type received" << std::endl;
- break;
+ default:
+ {
+ DEBUG_STREAM << "SingleShotAOManager::handle_message::unhandled msg type received" << std::endl;
+ break;
+ }
}
}
@@ -202,53 +205,52 @@ void SingleShotAOManager::process_message (yat::Message& msg)
// ============================================================================
void SingleShotAOManager::periodic_job_i()
{
- //test all channels
+ // test all channels
for (unsigned int l_cpt = 0;l_cpt < m_nb_chan;l_cpt++)
{
- //test if a ramp step must occur
- if (m_currentIndex[l_cpt] != -1)
+ // test if a ramp step must occur
+ if (m_currentIndex[l_cpt] == -1)
{
- m_isRunning[l_cpt] = true;
- double l_val = 0;
- l_val = m_ramps[l_cpt][m_currentIndex[l_cpt]];
- DEBUG_STREAM << "Current value for channel" << l_cpt << ": " << l_val << endl;
- try
- {
- CHECK_SSAO();
- m_ssao->write_scaled_channel((adl::ChanId)l_cpt, l_val);
- m_channels[l_cpt] = l_val;
- }
- catch(const asl::DAQException& de)
- {
- Tango::DevFailed df = daq_to_tango_exception(de);
- ERROR_STREAM << df<< endl;
- m_state = Tango::FAULT;
- RETHROW_DEVFAILED(df,
- "DRIVER_FAILURE",
- "could not write channel [caught asl::DAQException]",
- "SingleShotAOManager::write_channel");
- }
- catch(...)
- {
- ERROR_STREAM << "SingleShotAOManager::write_channel::unknown exception caught"<<std::endl;
- m_state = Tango::FAULT;
- THROW_DEVFAILED("DRIVER_FAILURE",
- "could not write channel [unknown error]",
- "SingleShotAOManager::write_channel");
- }
-
- //check if there is another value
- m_currentIndex[l_cpt] +=1;
- if (m_currentIndex[l_cpt] == m_ramps[l_cpt].capacity())
- {
- m_currentIndex[l_cpt] = -1;
- m_initials[l_cpt] = m_channels[l_cpt];
- m_ramps[l_cpt].clear();
- }
+ m_isRunning[l_cpt] = false;
+ continue;
}
- else
+
+ m_isRunning[l_cpt] = true;
+ double l_val = 0;
+ l_val = m_ramps[l_cpt][m_currentIndex[l_cpt]];
+ DEBUG_STREAM << "Current value for channel" << l_cpt << ": " << l_val << endl;
+ try
{
- m_isRunning[l_cpt] = false;
+ CHECK_SSAO();
+ m_ssao->write_scaled_channel((adl::ChanId)l_cpt, l_val);
+ m_channels[l_cpt] = l_val;
+ }
+ catch(const asl::DAQException& de)
+ {
+ Tango::DevFailed df = daq_to_tango_exception(de);
+ ERROR_STREAM << df << endl;
+ m_state = Tango::FAULT;
+ RETHROW_DEVFAILED(df,
+ "DRIVER_FAILURE",
+ "could not write channel [caught asl::DAQException]",
+ "SingleShotAOManager::write_channel");
+ }
+ catch(...)
+ {
+ ERROR_STREAM << "SingleShotAOManager::write_channel::unknown exception caught" << std::endl;
+ m_state = Tango::FAULT;
+ THROW_DEVFAILED("DRIVER_FAILURE",
+ "could not write channel [unknown error]",
+ "SingleShotAOManager::write_channel");
+ }
+
+ // check if there is another value
+ m_currentIndex[l_cpt] += 1;
+ if (m_currentIndex[l_cpt] == m_ramps[l_cpt].capacity())
+ {
+ m_currentIndex[l_cpt] = -1;
+ m_initials[l_cpt] = m_channels[l_cpt];
+ m_ramps[l_cpt].clear();
}
}
}
@@ -266,8 +268,9 @@ double SingleShotAOManager::get_channel(ChannelId_t p_chIdx)
// ============================================================================
void SingleShotAOManager::write_channel(ChannelId_t p_chIdx, double p_val)
{
- DEBUG_STREAM << "write_channel : " << p_chIdx << " : " << p_val << " : " << endl;
+ DEBUG_STREAM << "write_channel " << p_chIdx << " : " << p_val << endl;
+ // if the speed is 0, write the value directly
if (m_speeds[p_chIdx] == 0.0)
{
try
@@ -276,11 +279,12 @@ void SingleShotAOManager::write_channel(ChannelId_t p_chIdx, double p_val)
m_ssao->write_scaled_channel((adl::ChanId)p_chIdx, p_val);
m_channels[p_chIdx] = p_val;
m_initials[p_chIdx] = p_val;
+ DEBUG_STREAM << "Speed is 0, writing directly the value" << endl;
}
catch(const asl::DAQException& de)
{
Tango::DevFailed df = daq_to_tango_exception(de);
- ERROR_STREAM << df<< endl;
+ ERROR_STREAM << df << endl;
m_state = Tango::FAULT;
RETHROW_DEVFAILED(df,
"DRIVER_FAILURE",
@@ -295,83 +299,78 @@ void SingleShotAOManager::write_channel(ChannelId_t p_chIdx, double p_val)
"could not write channel [unknown error]",
"SingleShotAOManager::write_channel");
}
+ return;
}
- else
+
+ // if a ramp is not running, error
+ if (m_isRunning[p_chIdx])
+ {
+ THROW_DEVFAILED("DEVICE_FAILURE",
+ "could not write channel : a ramp is still in progress on this channel",
+ "SingleShotAOManager::write_channel");
+ }
+
+ // if frequency = 0, error
+ if (m_frequency == 0)
+ {
+ THROW_DEVFAILED("DRIVER_FAILURE",
+ "could not set a ramp on this channel. The frequency is 0",
+ "SingleShotAOManager::write_channel");
+ }
+
+ // if initial = channel, skip
+ if (m_initials[p_chIdx] == p_val)
+ {
+ DEBUG_STREAM << "Initial value is the same as the given value, skipping" << endl;
+ return;
+ }
+
+ // ramp determination
+ double l_delta = p_val - m_initials[p_chIdx];
+ bool isDown = false;
+ l_delta = ((l_delta * m_frequency) / m_speeds[p_chIdx]) + 1;
+ if (l_delta < 0)
+ {
+ l_delta = -l_delta + 2;
+ isDown = true;
+ }
+ DEBUG_STREAM << "Computed ramp steps number : " << l_delta << endl;
+
+ yat::Buffer<double> l_buffer;
+ size_t ramp_size = (size_t)(ceil(l_delta));
+ l_buffer.capacity(ramp_size);
+ l_buffer.force_length(ramp_size);
+
+ // check if ramp step is integer or not
+ bool isDeltaNotInt = (ramp_size != ((size_t)(floor(l_delta))));
+ DEBUG_STREAM << "Real ramp steps number : " << ramp_size << endl;
+
+ for (unsigned int l_cpt = 0; l_cpt < ramp_size; l_cpt++)
{
- // check if a ramp is not running
- if (!m_isRunning[p_chIdx])
+ if ((l_cpt == (ramp_size - 1)) && (isDeltaNotInt))
{
- // check if initial = channel
- if (m_initials[p_chIdx] != p_val)
- {
- if (m_frequency == 0)
- {
- THROW_DEVFAILED("DRIVER_FAILURE",
- "could not set a ramp on this channel. The frequency is 0",
- "SingleShotAOManager::write_channel");
- }
-
- //ramp determination
- double l_delta = p_val - m_initials[p_chIdx];
- bool isDown = false;
- l_delta = ((l_delta * m_frequency) / m_speeds[p_chIdx])+1;
- if (l_delta < 0)
- {
- l_delta = -l_delta + 2;
- isDown = true;
- }
- DEBUG_STREAM << "Computed ramp steps number : " << l_delta << endl;
-
- yat::Buffer<double> l_buffer;
- size_t ramp_size = (size_t)(ceil(l_delta));
- l_buffer.capacity(ramp_size);
- l_buffer.force_length(ramp_size);
-
- // check if ramp step is integer or not
- bool isDeltaNotInt = false;
- if (ramp_size != ((size_t)(floor(l_delta))))
- {
- isDeltaNotInt = true;
- }
-
- DEBUG_STREAM << "Real ramp steps number : " << ramp_size << endl;
-
- for (unsigned int l_cpt = 0; l_cpt < ramp_size; l_cpt++)
- {
- if ((l_cpt == (ramp_size - 1)) &&
- (isDeltaNotInt))
- {
- // add the setpoint value at the end of table
- l_buffer[l_cpt] = p_val;
- }
- else
- {
- if (isDown)
- {
- l_buffer[l_cpt] = m_initials[p_chIdx] - l_cpt*(m_speeds[p_chIdx]/m_frequency);
- }
- else
- {
- l_buffer[l_cpt] = m_initials[p_chIdx] + l_cpt*(m_speeds[p_chIdx]/m_frequency);
- }
- }
- //DEBUG_STREAM << "Ramp buffer[" << l_cpt << "] = " << l_buffer[l_cpt] << endl;
- }
- m_ramps[p_chIdx].clear();
- m_ramps[p_chIdx].capacity(0);
- m_ramps[p_chIdx].force_length(0);
- m_currentIndex[p_chIdx] = 0;
- m_ramps[p_chIdx] = l_buffer;
- //m_channels[p_chIdx] = m_ramps[p_chIdx][0]; -- soso on ne met rien ici => à l'application
- }
+ // add the setpoint value at the end of table
+ l_buffer[l_cpt] = p_val;
}
else
{
- THROW_DEVFAILED("DEVICE_FAILURE",
- "could not write channel : a ramp is still in progress on this channel",
- "SingleShotAOManager::write_channel");
+ if (isDown)
+ {
+ l_buffer[l_cpt] = m_initials[p_chIdx] - l_cpt * (m_speeds[p_chIdx] / m_frequency);
+ }
+ else
+ {
+ l_buffer[l_cpt] = m_initials[p_chIdx] + l_cpt * (m_speeds[p_chIdx] / m_frequency);
+ }
}
+ //DEBUG_STREAM << "Ramp buffer[" << l_cpt << "] = " << l_buffer[l_cpt] << endl;
}
+ m_ramps[p_chIdx].clear();
+ m_ramps[p_chIdx].capacity(0);
+ m_ramps[p_chIdx].force_length(0);
+ m_currentIndex[p_chIdx] = 0;
+ m_ramps[p_chIdx] = l_buffer;
+ //m_channels[p_chIdx] = m_ramps[p_chIdx][0]; -- soso on ne met rien ici => à l'application
}
// ============================================================================
--
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