diff --git a/ActuatorPlugins/GalilAxisPlugin/pom.xml b/ActuatorPlugins/GalilAxisPlugin/pom.xml
deleted file mode 100644
index 311edaa08da6758e238dc42f2e636b4639de0d58..0000000000000000000000000000000000000000
--- a/ActuatorPlugins/GalilAxisPlugin/pom.xml
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
- <modelVersion>4.0.0</modelVersion>
- <parent>
- <groupId>fr.soleil.device.ActuatorSystem</groupId>
- <artifactId>ActuatorPlugins</artifactId>
- <version>1.0.8-SNAPSHOT</version>
- </parent>
-
- <groupId>fr.soleil.device.ActuatorSystem.ActuatorPlugins</groupId>
- <artifactId>GalilAxisPlugin-${aol}-shared-${mode}</artifactId>
-
- <packaging>nar</packaging>
- <name>GalilAxisPlugin</name> <!-- used for the name of executable -->
- <description>Plugin in order to work with galil axis device</description>
-
-
- <build>
- <plugins>
- <plugin>
- <groupId>org.freehep</groupId>
- <artifactId>freehep-nar-plugin</artifactId>
- </plugin>
- </plugins>
- </build>
-
- <dependencies>
- <dependency>
- <groupId>fr.soleil.lib</groupId>
- <artifactId>YAT4Tango-${aol}-${library}-${mode}</artifactId>
- </dependency>
- <dependency>
- <groupId>fr.soleil.lib</groupId>
- <artifactId>YAT-${aol}-${library}-${mode}</artifactId>
- </dependency>
- </dependencies>
-
-</project>
diff --git a/ActuatorPlugins/SimulatedAxisPlugin/src/SimulatedAxisPlugin.cpp b/ActuatorPlugins/SimulatedAxisPlugin/src/SimulatedAxisPlugin.cpp
deleted file mode 100644
index 63d9d2847e072449927bead981b51bd028355186..0000000000000000000000000000000000000000
--- a/ActuatorPlugins/SimulatedAxisPlugin/src/SimulatedAxisPlugin.cpp
+++ /dev/null
@@ -1,203 +0,0 @@
-//=============================================================================
-// SimulatedAxisPlugin.cpp
-//=============================================================================
-// abstraction.......Plugin to use SimulatedAxisDevice in BeamPositionTracking application
-// class.............SimulatedAxisPlugin
-// original author...thiam - SOLEIL
-//=============================================================================
-
-#include <SimulatedAxisPlugin.h>
-#include <yat/plugin/PlugInSymbols.h>
-#include <yat/utils/StringTokenizer.h>
-#include <yat/threading/Thread.h>
-#include <iostream>
-
-EXPORT_SINGLECLASS_PLUGIN(SimulatedAxisPlugin::SimulatedAxisPlugin, SimulatedAxisPlugin::SimulatedAxisPluginInfo);
-
-namespace SimulatedAxisPlugin
-{
-std::string SIMULTATED_AXIS_DEVICE_ADRESS_STR = "SimulatedAxisDeviceDeviceUrl";
-std::string CMD_MOVE_AXIS_RELATIVE_STR = "MoveRelativeWithSpeed";
-std::string CMD_STOP_MOVEMENT = "Stop";
-// ============================================================================
-// SimulatedAxisPlugin::SimulatedAxisPlugin
-// ============================================================================
-SimulatedAxisPlugin::SimulatedAxisPlugin()
-: yat4tango::TangoLogAdapter(NULL)
-{
- _simulatedAxisDevice = NULL;
- this->_stateStatus.isConnexionOperational = false;
-}
-
-// ============================================================================
-// SimulatedAxisPlugin::~SimulatedAxisPlugin
-// ============================================================================
-SimulatedAxisPlugin::~SimulatedAxisPlugin()
-{
- if(_simulatedAxisDevice)
- delete _simulatedAxisDevice;
- _simulatedAxisDevice = NULL;
-}
-// ============================================================================
-// SPECIFIC PLUGIN PROPERTIES
-// ============================================================================
-// ============================================================================
-// SimulatedAxisPlugin::enumerate_properties
-// ============================================================================
-void SimulatedAxisPlugin::enumerate_properties (yat4tango::PlugInPropertyInfoList& propInfoList) const
-throw (Tango::DevFailed)
-{
- //NO properties here ..
-}
-// ============================================================================
-// SimulatedAxisPlugin::set_properties
-// ============================================================================
-void SimulatedAxisPlugin::set_properties (yat4tango::PlugInPropertyValueList& propValueList)
-throw (Tango::DevFailed)
-{
- //NO properties here ..
-}
-// ============================================================================
-// SimulatedAxisPlugin::enumerate_attributes
-// ============================================================================
-void SimulatedAxisPlugin::enumerate_attributes (yat4tango::DynamicAttributeDescriptionList& attrDescList) const
-throw (Tango::DevFailed)
-{
-
-}
-
-// ============================================================================
-// SimulatedAxisPlugin::initialize_connection
-// ============================================================================
-void SimulatedAxisPlugin::initialize_connection (std::string deviceAdress)
-{
- this->_simulatedAxisDevice = new Tango::DeviceProxy (deviceAdress);
- Tango::DeviceData test = this->_simulatedAxisDevice->command_inout("Status");
-
- std::string statusOut;
- test>>statusOut;
- this->_stateStatus.isConnexionOperational = true;
-
-}
-// ============================================================================
-// SimulatedAxisPlugin::init
-// ============================================================================
-void SimulatedAxisPlugin::init(Tango::DeviceImpl * host_device, std::string deviceAdress) throw (Tango::DevFailed){
-
- this->initialize_connection(deviceAdress);
- if (this->_stateStatus.isConnexionOperational){
- this->_stateStatus.axisStatus = "Plugin is ready";
- this->_stateStatus.axisState = Tango::STANDBY;
- }
-}
-
-// ============================================================================
-// SimulatedAxisPlugin::getAxisCurrentPosition
-// ============================================================================
-double SimulatedAxisPlugin::getAxisCurrentPosition()throw (Tango::DevFailed){
- Tango::DevShort positionValue = NULL;
- //First check if connexion is still alive
- this->updateStateStatus();
- if (_stateStatus.isConnexionOperational){
- Tango::DeviceAttribute positionAttr = this->_simulatedAxisDevice->read_attribute("RPositionMoteur");
- positionAttr >> positionValue;
- }
-
- return (double)positionValue;
-}
-// ============================================================================
-// SimulatedAxisPlugin::getAxisUnit
-// ============================================================================
-std::string SimulatedAxisPlugin::getAxisUnit()throw (Tango::DevFailed)
-{
- std::string axisUnit = "" ;
- //First check if connexion is still alive
- this->updateStateStatus();
- if (_stateStatus.isConnexionOperational){
- std::string posAttrName = "RPositionMoteur";
- Tango::AttributeInfoEx posAttributeInfo;
- posAttributeInfo = this->_simulatedAxisDevice->get_attribute_config(posAttrName);
- axisUnit = posAttributeInfo.unit;
- }
-
- return axisUnit;
-}
-// ============================================================================
-// SimulatedAxisPlugin::setAxisPosition
-// ============================================================================
-void SimulatedAxisPlugin::setAxisPosition(double position)throw (Tango::DevFailed){
-
- if (_stateStatus.isConnexionOperational /*&& Normaly check if axe is moving, but its fake anyway*/){
- _stateStatus.axisState = Tango::MOVING;
- _stateStatus.axisStatus = "Movement is starting..";
-
- double currentPosition = this->getAxisCurrentPosition();
- double relativeMovement = 0;
- //Need to estimate relative movement !
-
- relativeMovement = position - currentPosition;
-
- moveAxisRelative(relativeMovement);
- }
-}
-// ============================================================================
-// SimulatedAxisPlugin::moveAxisRelative
-// ============================================================================
-void SimulatedAxisPlugin::moveAxisRelative(double relativeMovement)throw (Tango::DevFailed){
- //First check if connexion is still alive
- this->updateStateStatus();
- if (_stateStatus.isConnexionOperational /*&& Normaly check if axe is moving, but its fake anyway*/){
- _stateStatus.axisState = Tango::MOVING;
- _stateStatus.axisStatus = "Movement is starting..";
-
- Tango::DevVarShortArray* w_argsStepsSpeed = new Tango::DevVarShortArray();
- w_argsStepsSpeed->length(2);
- (*w_argsStepsSpeed)[0] = (short)relativeMovement;
- (*w_argsStepsSpeed)[1] = 1;
-
- Tango::DeviceData relativeMovmentData;
- relativeMovmentData<<w_argsStepsSpeed;
-
- sendCommandToActuatorSystem(CMD_MOVE_AXIS_RELATIVE_STR, true, relativeMovmentData);
- }
-}
-// ============================================================================
-// SimulatedAxisPlugin::stopAxisMovement
-// ============================================================================
-void SimulatedAxisPlugin::stopAxisMovement()throw (Tango::DevFailed){
- Tango::DeviceData emptyData;
- sendCommandToActuatorSystem(CMD_STOP_MOVEMENT, false, emptyData);
-}
-// ============================================================================
-// SimulatedAxisPlugin::getAxisStatus
-// ============================================================================
-AS::ActuatorInterface::ActuatorInterface::AxisStateStatus SimulatedAxisPlugin::getAxisStateStatus()throw (Tango::DevFailed){
- this->updateStateStatus();
- return this->_stateStatus;
-}
-// ============================================================================
-// SimulatedAxisPlugin::updateStateStatus
-// ============================================================================
-void SimulatedAxisPlugin::updateStateStatus(){
- try{
- _stateStatus.axisState = this->_simulatedAxisDevice->state();
- //in our case -> standby means ON
- if(_stateStatus.axisState == Tango::STANDBY)
- _stateStatus.axisState = Tango::ON;
- _stateStatus.axisStatus = this->_simulatedAxisDevice->status();
- _stateStatus.isConnexionOperational = true;
-
- }catch(...){
- _stateStatus.isConnexionOperational = false;
- }
-}
-// ============================================================================
-// SimulatedAxisPlugin::sendCommandToActuatorSystem
-// ============================================================================
-void SimulatedAxisPlugin::sendCommandToActuatorSystem(std::string cmdName, bool args, Tango::DeviceData argsData){
- if (args)
- this->_simulatedAxisDevice->command_inout(cmdName, argsData);
- else
- this->_simulatedAxisDevice->command_inout(cmdName);
-}
-}// namespace SimulatedAxisPlugin
diff --git a/ActuatorPlugins/SimulatedAxisPlugin/src/SimulatedAxisPlugin.h b/ActuatorPlugins/SimulatedAxisPlugin/src/SimulatedAxisPlugin.h
deleted file mode 100644
index dbf27857760245031ee4af2ac5f6ec05afc53806..0000000000000000000000000000000000000000
--- a/ActuatorPlugins/SimulatedAxisPlugin/src/SimulatedAxisPlugin.h
+++ /dev/null
@@ -1,125 +0,0 @@
-//=============================================================================
-// SimulatedAxisPlugin.h
-//=============================================================================
-// abstraction.......Plugin to use a simulated axis in beam tracking position
-// class.............SimulatedAxisPlugin
-// original author...Thiam- SOLEIL
-//=============================================================================
-
-#ifndef _ACTUATOR_AXIS_PLUGIN_H_
-#define _ACTUATOR_AXIS_PLUGIN_H_
-
-// ============================================================================
-// DEPENDENCIES
-// ============================================================================
-#include <tango.h>
-
-#include <yat/utils/StringTokenizer.h>
-#include <yat/plugin/IPlugInInfo.h>
-#include <yat/plugin/IPlugInObject.h>
-#include <yat/plugin/PlugInSymbols.h>
-#include "../../../PluginInterfaces/include/ActuatorInterface.h"
-#include <yat4tango/LogHelper.h>
-#include <iostream>
-
-namespace SimulatedAxisPlugin
-{
-
-//=============================================================================
-//! \class SimulatedAxisPluginInfo
-//! \brief Plugin infos class
-//!
-//! Inherits from yat::IPlugInInfo class.
-//=============================================================================
-class SimulatedAxisPluginInfo : public yat::IPlugInInfo
-{
-public:
- std::string get_plugin_id() const
- { return "SimulatedAxis"; }
-
- virtual std::string get_interface_name() const
- { return "ActuatorInterface"; }
-
- virtual std::string get_version_number() const
- { return "1.0.0"; }
-};
-
-//=============================================================================
-//! \class SimulatedAxisPlugin
-//!
-//! Inherits from BeamPositionTracking_ns::ActuatorInterface::ActuatorInterface class.
-//=============================================================================
-class SimulatedAxisPlugin : public AS::ActuatorInterface::ActuatorInterface,
- public yat4tango::TangoLogAdapter
-{
-
-public:
-
- SimulatedAxisPlugin();
- ~SimulatedAxisPlugin();
-
-
- //-------------------------------------------------------------------------
- // yat4tango::DevicePlugIn interface
- //-------------------------------------------------------------------------
- //!\brief Gets the plugin's specific properties.
- void enumerate_properties (yat4tango::PlugInPropertyInfoList& propInfoList) const
- throw (Tango::DevFailed);
-
- //!\brief Sets the plugin properties.
- void set_properties (yat4tango::PlugInPropertyValueList& propValueList)
- throw (Tango::DevFailed);
-
- //!\brief Gets the plugin dynamic attributes.
- void enumerate_attributes (yat4tango::DynamicAttributeDescriptionList& attrDescList) const
- throw (Tango::DevFailed);
- //-------------------------------------------------------------------------
- // yat4tango::DevicePlugIn interface
- //-------------------------------------------------------------------------
-
- void init(Tango::DeviceImpl * host_device, std::string deviceAdress)
- throw (Tango::DevFailed);
-
- void setAxisPosition(double position)
- throw (Tango::DevFailed);
-
- void moveAxisRelative(double relativeMovement)
- throw (Tango::DevFailed);
-
- void stopAxisMovement()
- throw (Tango::DevFailed);
-
- double getAxisCurrentPosition()
- throw (Tango::DevFailed);
-
-
- std::string getAxisUnit()
- throw (Tango::DevFailed);
-
- AS::ActuatorInterface::ActuatorInterface::AxisStateStatus getAxisStateStatus()
- throw (Tango::DevFailed);
-
-
-private:
-
- AS::ActuatorInterface::ActuatorInterface::AxisStateStatus _stateStatus;
-
- bool _simulatedAxisProxyInit;
-
- void initialize_connection(std::string deviceAdress);
-
- void sendCommandToActuatorSystem(std::string cmdName, bool args, Tango::DeviceData argsData);
-
- // mp_SimulatedAxisDevice: device to access axis
- Tango::DeviceProxy *_simulatedAxisDevice;
- std::string _simulatedAxisDeviceDeviceAdressStr;
-
- void updateStateStatus();
-};
-
-
-} // namespace SimulatedAxisPlugin
-
-
-
-#endif // _ACTUATOR_AXIS_PLUGIN_H_
diff --git a/ActuatorPlugins/SimulatedAxisPlugin/pom.xml b/ActuatorPlugins/StandardMotorPlugin/pom.xml
old mode 100644
new mode 100755
similarity index 80%
rename from ActuatorPlugins/SimulatedAxisPlugin/pom.xml
rename to ActuatorPlugins/StandardMotorPlugin/pom.xml
index 3deba97eb36952b57d6a0a09d18fb8a64a4bec1e..b1fc2893f0ca82260a04cd3b163a597e1e57adeb
--- a/ActuatorPlugins/SimulatedAxisPlugin/pom.xml
+++ b/ActuatorPlugins/StandardMotorPlugin/pom.xml
@@ -4,15 +4,15 @@
<parent>
<groupId>fr.soleil.device.ActuatorSystem</groupId>
<artifactId>ActuatorPlugins</artifactId>
- <version>1.0.8-SNAPSHOT</version>
+ <version>1.1.0-SNAPSHOT</version>
</parent>
<groupId>fr.soleil.device.ActuatorSystem.ActuatorPlugins</groupId>
- <artifactId>SimulatedAxisPlugin-${aol}-shared-${mode}</artifactId>
+ <artifactId>StandardMotorPlugin-${aol}-shared-${mode}</artifactId>
<packaging>nar</packaging>
- <name>SimulatedAxisPlugin</name> <!-- used for the name of executable -->
- <description>Fake axis Plugin - Tests purpose</description>
+ <name>StandardMotorPlugin</name> <!-- used for the name of executable -->
+ <description>Plugin in order to work with standard motors axis device</description>
<build>
@@ -35,4 +35,4 @@
</dependency>
</dependencies>
-</project>
+</project>
\ No newline at end of file
diff --git a/ActuatorPlugins/GalilAxisPlugin/src/GalilAxisPlugin.cpp b/ActuatorPlugins/StandardMotorPlugin/src/StandardMotorPlugin.cpp
old mode 100644
new mode 100755
similarity index 50%
rename from ActuatorPlugins/GalilAxisPlugin/src/GalilAxisPlugin.cpp
rename to ActuatorPlugins/StandardMotorPlugin/src/StandardMotorPlugin.cpp
index f48e46226245dfec6b5c4835f65e8ae8999c7ad5..1f790512b777cd7323fdfae1c2d2a61380ce3586
--- a/ActuatorPlugins/GalilAxisPlugin/src/GalilAxisPlugin.cpp
+++ b/ActuatorPlugins/StandardMotorPlugin/src/StandardMotorPlugin.cpp
@@ -1,35 +1,35 @@
//=============================================================================
-// GalilAxisPlugin.cpp
+// StandardMotorPlugin.cpp
//=============================================================================
-// abstraction.......Plugin to use galilAxisDevice in BeamPositionTracking application
-// class.............GalilAxisPlugin
+// abstraction.......Plugin to use StandardMotorDevice in BeamPositionTracking application
+// class.............StandardMotorPlugin
// original author...thiam - SOLEIL
//=============================================================================
-#include <GalilAxisPlugin.h>
+#include <StandardMotorPlugin.h>
-EXPORT_SINGLECLASS_PLUGIN(GalilAxisPlugin::GalilAxisPlugin, GalilAxisPlugin::GalilAxisPluginInfo);
+EXPORT_SINGLECLASS_PLUGIN(StandardMotorPlugin::StandardMotorPlugin, StandardMotorPlugin::StandardMotorPluginInfo);
-namespace GalilAxisPlugin
+namespace StandardMotorPlugin
{
-std::string SIMULTATED_AXIS_DEVICE_ADRESS_STR = "galilAxisDeviceDeviceUrl";
+std::string SIMULTATED_AXIS_DEVICE_ADRESS_STR = "StandardMotorDeviceDeviceUrl";
std::string CMD_MOVE_AXIS_RELATIVE_STR = "MoveRelativeWithSpeed";
std::string CMD_STOP_MOVEMENT = "Stop";
std::string ATTR_POSITION_STR = "position";
// ============================================================================
-// GalilAxisPlugin::GalilAxisPlugin
+// StandardMotorPlugin::StandardMotorPlugin
// ============================================================================
-GalilAxisPlugin::GalilAxisPlugin()
+StandardMotorPlugin::StandardMotorPlugin()
: yat4tango::TangoLogAdapter(NULL)
{
}
// ============================================================================
-// GalilAxisPlugin::~GalilAxisPlugin
+// StandardMotorPlugin::~StandardMotorPlugin
// ============================================================================
-GalilAxisPlugin::~GalilAxisPlugin()
+StandardMotorPlugin::~StandardMotorPlugin()
{
}
@@ -37,63 +37,60 @@ GalilAxisPlugin::~GalilAxisPlugin()
// SPECIFIC PLUGIN PROPERTIES
// ============================================================================
// ============================================================================
-// GalilAxisPlugin::enumerate_properties
+// StandardMotorPlugin::enumerate_properties
// ============================================================================
-void GalilAxisPlugin::enumerate_properties (yat4tango::PlugInPropertyInfoList& propInfoList) const
-throw (Tango::DevFailed)
+void StandardMotorPlugin::enumerate_properties (yat4tango::PlugInPropertyInfoList& propInfoList) const
{
//NO properties here ..
}
// ============================================================================
-// GalilAxisPlugin::set_properties
+// StandardMotorPlugin::set_properties
// ============================================================================
-void GalilAxisPlugin::set_properties (yat4tango::PlugInPropertyValueList& propValueList)
-throw (Tango::DevFailed)
+void StandardMotorPlugin::set_properties (yat4tango::PlugInPropertyValueList& propValueList)
{
//NO properties here ..
}
// ============================================================================
-// GalilAxisPlugin::enumerate_attributes
+// StandardMotorPlugin::enumerate_attributes
// ============================================================================
-void GalilAxisPlugin::enumerate_attributes (yat4tango::DynamicAttributeDescriptionList& attrDescList) const
-throw (Tango::DevFailed)
+void StandardMotorPlugin::enumerate_attributes (yat4tango::DynamicAttributeDescriptionList& attrDescList) const
{
}
// ============================================================================
-// GalilAxisPlugin::initialize_connection
+// StandardMotorPlugin::initialize_connection
// ============================================================================
-void GalilAxisPlugin::initialize_connection (std::string deviceAdress)
+void StandardMotorPlugin::initialize_connection (std::string deviceAdress)
{
- this->_galilAxisDevice = new Tango::DeviceProxy (deviceAdress);
- Tango::DeviceData test = this->_galilAxisDevice->command_inout("Status");
+ m_standard_motor_device = new Tango::DeviceProxy (deviceAdress);
+ Tango::DeviceData test = m_standard_motor_device->command_inout("Status");
std::string statusOut;
test>>statusOut;
- this->_stateStatus.isConnexionOperational = true;
+ m_state_status.isConnexionOperational = true;
}
// ============================================================================
-// GalilAxisPlugin::start
+// StandardMotorPlugin::start
// ============================================================================
-void GalilAxisPlugin::init(Tango::DeviceImpl * host_device, std::string deviceAdress)
- throw (Tango::DevFailed)
+void StandardMotorPlugin::init(Tango::DeviceImpl * host_device, std::string deviceAdress)
{
- this->initialize_connection(deviceAdress);
- this->_stateStatus.axisStatus = "GalilAxis plugin is ready";
- this->_stateStatus.axisState = Tango::STANDBY;
- this->_deviceURLAdress = deviceAdress;
+ initialize_connection(deviceAdress);
+ m_state_status.axisStatus = "StandardMotor plugin is ready";
+ m_state_status.axisState = Tango::STANDBY;
+ _deviceURLAdress = deviceAdress;
}
// ============================================================================
-// GalilAxisPlugin::getAxisCurrentPosition
+// StandardMotorPlugin::getAxisCurrentPosition
// ============================================================================
-double GalilAxisPlugin::getAxisCurrentPosition()throw (Tango::DevFailed)
+double StandardMotorPlugin::getAxisCurrentPosition()
{
Tango::DevDouble positionValue = NULL;
//First check if connexion is still alive
- this->updateStateStatus();
- if (_stateStatus.isConnexionOperational){
- Tango::DeviceAttribute positionAttr = this->_galilAxisDevice->read_attribute(ATTR_POSITION_STR);
+ update_state_status();
+ if (m_state_status.isConnexionOperational)
+ {
+ Tango::DeviceAttribute positionAttr = m_standard_motor_device->read_attribute(ATTR_POSITION_STR);
positionAttr >> positionValue;
}
@@ -101,87 +98,100 @@ double GalilAxisPlugin::getAxisCurrentPosition()throw (Tango::DevFailed)
}
// ============================================================================
-// GalilAxisPlugin::getAxisUnit
+// StandardMotorPlugin::getAxisUnit
// ============================================================================
-std::string GalilAxisPlugin::getAxisUnit()throw (Tango::DevFailed)
+std::string StandardMotorPlugin::getAxisUnit()
{
std::string axisUnit = "" ;
//First check if connexion is still alive
- this->updateStateStatus();
- if (_stateStatus.isConnexionOperational){
+ update_state_status();
+ if (m_state_status.isConnexionOperational)
+ {
std::string posAttrName = "Position";
Tango::AttributeInfoEx posAttributeInfo;
- posAttributeInfo = this->_galilAxisDevice->get_attribute_config(posAttrName);
+ posAttributeInfo = m_standard_motor_device->get_attribute_config(posAttrName);
axisUnit = posAttributeInfo.unit;
}
return axisUnit;
}
// ============================================================================
-// GalilAxisPlugin::setAxisPosition
+// StandardMotorPlugin::setAxisPosition
// ============================================================================
-void GalilAxisPlugin::setAxisPosition(double position)throw (Tango::DevFailed){
-
- this->updateStateStatus();
- if (_stateStatus.isConnexionOperational){
+void StandardMotorPlugin::setAxisPosition(double position)
+{
+ update_state_status();
+ if (m_state_status.isConnexionOperational)
+ {
Tango::DeviceAttribute* positionAttribute;
- _stateStatus.axisState = Tango::MOVING;
- _stateStatus.axisStatus = "Movement is starting..";
+ m_state_status.axisState = Tango::MOVING;
+ m_state_status.axisStatus = "Movement is starting..";
positionAttribute = new Tango::DeviceAttribute(ATTR_POSITION_STR, position);
- this->_galilAxisDevice->write_attribute(*positionAttribute);
+ m_standard_motor_device->write_attribute(*positionAttribute);
}
}
// ============================================================================
-// GalilAxisPlugin::moveAxisRelative
+// StandardMotorPlugin::moveAxisRelative
// ============================================================================
-void GalilAxisPlugin::moveAxisRelative(double relativeMovement)throw (Tango::DevFailed){
+void StandardMotorPlugin::moveAxisRelative(double relativeMovement)
+{
//First check if connexion is still alive
- this->updateStateStatus();
- if (_stateStatus.isConnexionOperational /*&& Normaly check if axe is moving, but its fake anyway*/){
- _stateStatus.axisState = Tango::MOVING;
- _stateStatus.axisStatus = "Movement is starting..";
+ update_state_status();
+ if (m_state_status.isConnexionOperational /*&& Normaly check if axe is moving, but its fake anyway*/)
+ {
+ m_state_status.axisState = Tango::MOVING;
+ m_state_status.axisStatus = "Movement is starting..";
- double position = this->getAxisCurrentPosition();
+ double position = getAxisCurrentPosition();
double positionToWrite = position + relativeMovement;
Tango::DeviceAttribute* positionAttribute;
positionAttribute = new Tango::DeviceAttribute(ATTR_POSITION_STR, positionToWrite);
- this->_galilAxisDevice->write_attribute(*positionAttribute);
+ m_standard_motor_device->write_attribute(*positionAttribute);
}
}
// ============================================================================
-// GalilAxisPlugin::stopAxisMovement
+// StandardMotorPlugin::stopAxisMovement
// ============================================================================
-void GalilAxisPlugin::stopAxisMovement()throw (Tango::DevFailed){
+void StandardMotorPlugin::stopAxisMovement()
+{
Tango::DeviceData emptyData;
- sendCommandToActuatorSystem(CMD_STOP_MOVEMENT, false, emptyData);
+ send_command_to_actuator_system(CMD_STOP_MOVEMENT, false, emptyData);
}
// ============================================================================
-// GalilAxisPlugin::getAxisStatus
+// StandardMotorPlugin::getAxisStateStatus
// ============================================================================
-AS::ActuatorInterface::ActuatorInterface::AxisStateStatus GalilAxisPlugin::getAxisStateStatus()throw (Tango::DevFailed){
- this->updateStateStatus();
- return this->_stateStatus;
+AS::ActuatorInterface::ActuatorInterface::AxisStateStatus StandardMotorPlugin::getAxisStateStatus()
+{
+ update_state_status();
+ return m_state_status;
}
// ============================================================================
-// GalilAxisPlugin::updateStateStatus
+// StandardMotorPlugin::update_state_status
// ============================================================================
-void GalilAxisPlugin::updateStateStatus(){
-
- _stateStatus.axisState = this->_galilAxisDevice->state();
+void StandardMotorPlugin::update_state_status()
+{
+ m_state_status.axisState = m_standard_motor_device->state();
//in our case -> standby means ON
- if(_stateStatus.axisState == Tango::STANDBY)
- _stateStatus.axisState = Tango::ON;
- _stateStatus.axisStatus = this->_galilAxisDevice->status();
+ if(m_state_status.axisState == Tango::STANDBY)
+ {
+ m_state_status.axisState = Tango::ON;
+ }
+ m_state_status.axisStatus = m_standard_motor_device->status();
}
// ============================================================================
-// GalilAxisPlugin::sendCommandToActuatorSystem
+// StandardMotorPlugin::send_command_to_actuator_system
// ============================================================================
-void GalilAxisPlugin::sendCommandToActuatorSystem(std::string cmdName, bool args, Tango::DeviceData argsData){
+void StandardMotorPlugin::send_command_to_actuator_system(std::string cmdName, bool args, Tango::DeviceData argsData)
+{
if (args)
- this->_galilAxisDevice->command_inout(cmdName, argsData);
+ {
+ m_standard_motor_device->command_inout(cmdName, argsData);
+ }
else
- this->_galilAxisDevice->command_inout(cmdName);
+ {
+ m_standard_motor_device->command_inout(cmdName);
+ }
}
-}// namespace GalilAxisPlugin
+}// namespace StandardMotorPlugin
diff --git a/ActuatorPlugins/GalilAxisPlugin/src/GalilAxisPlugin.h b/ActuatorPlugins/StandardMotorPlugin/src/StandardMotorPlugin.h
old mode 100644
new mode 100755
similarity index 62%
rename from ActuatorPlugins/GalilAxisPlugin/src/GalilAxisPlugin.h
rename to ActuatorPlugins/StandardMotorPlugin/src/StandardMotorPlugin.h
index 9c4bdf52ba195df3be755908f4e3d41a2958cf3e..570d1a104bf06169a2ad70f02ce8257cc2d9c5e0
--- a/ActuatorPlugins/GalilAxisPlugin/src/GalilAxisPlugin.h
+++ b/ActuatorPlugins/StandardMotorPlugin/src/StandardMotorPlugin.h
@@ -1,8 +1,8 @@
//=============================================================================
-// GalilAxisPlugin.h
+// StandardMotorPlugin.h
//=============================================================================
// abstraction.......Plugin to use a simulated axis in beam tracking position
-// class.............GalilAxisPlugin
+// class.............StandardMotorPlugin
// original author...Thiam- SOLEIL
//=============================================================================
@@ -22,104 +22,100 @@
#include <yat4tango/LogHelper.h>
#include <iostream>
-namespace GalilAxisPlugin
+namespace StandardMotorPlugin
{
//=============================================================================
-//! \class GalilAxisPluginInfo
+//! \class StandardMotorPluginInfo
//! \brief Plugin infos class
//!
//! Inherits from yat::IPlugInInfo class.
//=============================================================================
-class GalilAxisPluginInfo : public yat::IPlugInInfo
+class StandardMotorPluginInfo : public yat::IPlugInInfo
{
public:
- std::string get_plugin_id() const
- { return "galilAxis"; }
-
- virtual std::string get_interface_name() const
- { return "ActuatorInterface"; }
-
- virtual std::string get_version_number() const
- { return "1.0.0"; }
+ std::string get_plugin_id() const
+ {
+ return "StandardMotor";
+ }
+
+ virtual std::string get_interface_name() const
+ {
+ return "ActuatorInterface";
+ }
+
+ virtual std::string get_version_number() const
+ {
+ return "1.0.0";
+ }
};
//=============================================================================
-//! \class GalilAxisPlugin
+//! \class StandardMotorPlugin
//!
//! Inherits from BeamPositionTracking_ns::ActuatorInterface::ActuatorInterface class.
//=============================================================================
-class GalilAxisPlugin : public AS::ActuatorInterface::ActuatorInterface,
+class StandardMotorPlugin : public AS::ActuatorInterface::ActuatorInterface,
public yat4tango::TangoLogAdapter
{
public:
- GalilAxisPlugin();
- ~GalilAxisPlugin();
+ StandardMotorPlugin();
+ ~StandardMotorPlugin();
//-------------------------------------------------------------------------
// yat4tango::DevicePlugIn interface
//-------------------------------------------------------------------------
//!\brief Gets the plugin's specific properties.
- void enumerate_properties (yat4tango::PlugInPropertyInfoList& propInfoList) const
- throw (Tango::DevFailed);
+ void enumerate_properties (yat4tango::PlugInPropertyInfoList& propInfoList) const;
//!\brief Sets the plugin properties.
- void set_properties (yat4tango::PlugInPropertyValueList& propValueList)
- throw (Tango::DevFailed);
+ void set_properties (yat4tango::PlugInPropertyValueList& propValueList);
//!\brief Gets the plugin dynamic attributes.
- void enumerate_attributes (yat4tango::DynamicAttributeDescriptionList& attrDescList) const
- throw (Tango::DevFailed);
+ void enumerate_attributes (yat4tango::DynamicAttributeDescriptionList& attrDescList) const;
//-------------------------------------------------------------------------
// yat4tango::DevicePlugIn interface
//-------------------------------------------------------------------------
- void init(Tango::DeviceImpl * host_device, std::string deviceAdress)
- throw (Tango::DevFailed);
+ void init(Tango::DeviceImpl * host_device, std::string deviceAdress) ;
- void setAxisPosition(double position)
- throw (Tango::DevFailed);
+ void setAxisPosition(double position);
- void moveAxisRelative(double relativeMovement)
- throw (Tango::DevFailed);
+ void moveAxisRelative(double relativeMovement) ;
- void stopAxisMovement()
- throw (Tango::DevFailed);
+ void stopAxisMovement() ;
- double getAxisCurrentPosition()
- throw (Tango::DevFailed);
+ double getAxisCurrentPosition() ;
- std::string getAxisUnit()
- throw (Tango::DevFailed);
+ std::string getAxisUnit();
- AS::ActuatorInterface::ActuatorInterface::AxisStateStatus getAxisStateStatus()
- throw (Tango::DevFailed);
+ AS::ActuatorInterface::ActuatorInterface::AxisStateStatus getAxisStateStatus();
private:
- AS::ActuatorInterface::ActuatorInterface::AxisStateStatus _stateStatus;
+ AS::ActuatorInterface::ActuatorInterface::AxisStateStatus m_state_status;
- bool _galilAxisProxyInit;
+ bool m_standard_motor_proxy_init;
void initialize_connection(std::string deviceAdress);
- void sendCommandToActuatorSystem(std::string cmdName, bool args, Tango::DeviceData argsData);
+ void send_command_to_actuator_system(std::string cmdName, bool args, Tango::DeviceData argsData);
- // mp_galilAxisDevice: device to access axis
- Tango::DeviceProxy *_galilAxisDevice;
- std::string _galilAxisDeviceDeviceAdressStr;
+ // m_standard_motor_device: device to access axis
+ Tango::DeviceProxy *m_standard_motor_device;
+ std::string m_standard_motor_device_adress_str;
- void updateStateStatus();
+ void update_state_status();
std::string _deviceURLAdress;
};
-} // namespace GalilAxisPlugin
+} // namespace StandardMotorPlugin
diff --git a/ActuatorPlugins/pom.xml b/ActuatorPlugins/pom.xml
old mode 100644
new mode 100755
index 8589bc4032e45468d83d669051da47dea5ce8cde..380399348a030a431a5acac2cd5f5844476af499
--- a/ActuatorPlugins/pom.xml
+++ b/ActuatorPlugins/pom.xml
@@ -4,7 +4,7 @@
<parent>
<groupId>fr.soleil.device</groupId>
<artifactId>ActuatorSystem</artifactId>
- <version>1.0.8-SNAPSHOT</version>
+ <version>1.1.0-SNAPSHOT</version>
</parent>
<groupId>fr.soleil.device.ActuatorSystem</groupId>
@@ -77,8 +77,7 @@
</build>
<modules>
- <module>SimulatedAxisPlugin</module>
- <module>GalilAxisPlugin</module>
+ <module>StandardMotorPlugin</module>
</modules>
</project>
diff --git a/ActuatorSystem/doc/doc_html/DevCommands.html b/ActuatorSystem/doc/doc_html/DevCommands.html
index b49790eb1f1c9bc015c71f134e04fb78d3dfa07c..492e0c60b98d5e55533b5f71bf15a4b2b146022d 100644
--- a/ActuatorSystem/doc/doc_html/DevCommands.html
+++ b/ActuatorSystem/doc/doc_html/DevCommands.html
@@ -134,7 +134,7 @@ The language device desctructor automatically calls the <i> delete_device() </i>
<A NAME="MoveYAxisRelative"><!-- --></A>
<h2>6 - MoveYAxisRelative</h2>
<ul>
-<Li><Strong>Description: </Strong> To move Y axis with a relative movement <Br> 
+<Li><Strong>Description: </Strong> To move Y axis with a relative movement<Br> 
<Li><Strong>Argin:<Br>DEV_DOUBLE</Strong>
: <Br> 
<Li><Strong>Argout:<Br>DEV_VOID</Strong>
@@ -148,8 +148,7 @@ The language device desctructor automatically calls the <i> delete_device() </i>
<A NAME="ApplyRelativeMovementOnAxes"><!-- --></A>
<h2>7 - ApplyRelativeMovementOnAxes</h2>
<ul>
-<Li><Strong>Description: </Strong> Argin[0] = movementOnXAxis;
-Argin[1] = movementOnYAxis<Br> 
+<Li><Strong>Description: </Strong> Argin[1] = movementOnYAxis<Br> 
<Li><Strong>Argin:<Br>DEVVAR_DOUBLEARRAY</Strong>
: <Br> 
<Li><Strong>Argout:<Br>DEV_VOID</Strong>
diff --git a/ActuatorSystem/doc/doc_html/Properties.html b/ActuatorSystem/doc/doc_html/Properties.html
index 4f7cdc674d0e5a9e89614a925a4dc84465d61b7b..5b50e76b4d0115113f8cfbf84e9eb7b9ccb62d0a 100644
--- a/ActuatorSystem/doc/doc_html/Properties.html
+++ b/ActuatorSystem/doc/doc_html/Properties.html
@@ -68,11 +68,13 @@ Revision: - Author: Thiam F.
<Tr><Td><b><a href=#Dev_DefaultValues>XAxisPluginType </a></b></Td>
<Td><Font Size=-1>Tango::DEV_STRING</Font></Td>
-<Td><Font Size=-1>X Axis plugin type</Font></Td></Tr>
+<Td><Font Size=-1>X Axis plugin type.
+Available values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )</Font></Td></Tr>
<Tr><Td><b><a href=#Dev_DefaultValues>YAxisPluginType </a></b></Td>
<Td><Font Size=-1>Tango::DEV_STRING</Font></Td>
-<Td><Font Size=-1>Y Axis plugin type</Font></Td></Tr>
+<Td><Font Size=-1>Y Axis plugin type.
+Available values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )</Font></Td></Tr>
<Tr><Td><b><a href=#Dev_DefaultValues>YAxisPluginPath </a></b></Td>
<Td><Font Size=-1>Tango::DEV_STRING</Font></Td>
@@ -126,11 +128,11 @@ In simulated mode, this device will only read state/status and positions from ax
</Tr>
<Tr>
<Td>XAxisPluginType</Td>
- <td>No default value</td>
+ <td>StandardMotor</td>
</Tr>
<Tr>
<Td>YAxisPluginType</Td>
- <td>No default value</td>
+ <td>StandardMotor</td>
</Tr>
<Tr>
<Td>YAxisPluginPath</Td>
@@ -146,23 +148,23 @@ In simulated mode, this device will only read state/status and positions from ax
</Tr>
<Tr>
<Td>XAxisMaxPosition</Td>
- <td>No default value</td>
+ <td>1</td>
</Tr>
<Tr>
<Td>XAxisMinPosition</Td>
- <td>No default value</td>
+ <td>0</td>
</Tr>
<Tr>
<Td>YAxisMaxPosition</Td>
- <td>No default value</td>
+ <td>1</td>
</Tr>
<Tr>
<Td>YAxisMinPosition</Td>
- <td>No default value</td>
+ <td>0</td>
</Tr>
<Tr>
<Td>DeviceMode</Td>
- <td>No default value</td>
+ <td>SIMULATED</td>
</Tr>
</Table>
diff --git a/ActuatorSystem/doc/doc_html/index.html b/ActuatorSystem/doc/doc_html/index.html
index b55ff7b9e320bb850015a1b23e4fd8a3754f262c..99eb2ab273aa5f89c4e81ea75e5a8bde988b38c7 100644
--- a/ActuatorSystem/doc/doc_html/index.html
+++ b/ActuatorSystem/doc/doc_html/index.html
@@ -58,7 +58,7 @@ Revision: - Author: Thiam F. <Br>
<Br>
<h2>Introduction:</h2>
<ul>
- This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y )
+ This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y )
in order to move beam centroid position.<Br>
</ul>
<Br><h2>Class Identification:</h2>
diff --git a/ActuatorSystem/doc/doc_html/user_guide.html b/ActuatorSystem/doc/doc_html/user_guide.html
index 1f95c1152d180e99f79681628834bef015e3be8b..f043c7739353c47613457fb0ec5bde93b9a4535d 100644
--- a/ActuatorSystem/doc/doc_html/user_guide.html
+++ b/ActuatorSystem/doc/doc_html/user_guide.html
@@ -63,7 +63,7 @@ ActuatorSystem Class<Br> <Br></Td></Tr>
<Br> <Br><Br> <Br>
<h2>Introduction:</h2>
<ul>
- This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y )
+ This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y )
in order to move beam centroid position.<Br>
</ul>
<Br>
@@ -117,11 +117,13 @@ This device should be used for BeamPositionTracking application only. This devic
<Tr><Td><b><a href=#Dev_DefaultValues>XAxisPluginType </a></b></Td>
<Td><Font Size=-1>Tango::DEV_STRING</Font></Td>
-<Td><Font Size=-1>X Axis plugin type</Font></Td></Tr>
+<Td><Font Size=-1>X Axis plugin type.
+Available values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )</Font></Td></Tr>
<Tr><Td><b><a href=#Dev_DefaultValues>YAxisPluginType </a></b></Td>
<Td><Font Size=-1>Tango::DEV_STRING</Font></Td>
-<Td><Font Size=-1>Y Axis plugin type</Font></Td></Tr>
+<Td><Font Size=-1>Y Axis plugin type.
+Available values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )</Font></Td></Tr>
<Tr><Td><b><a href=#Dev_DefaultValues>YAxisPluginPath </a></b></Td>
<Td><Font Size=-1>Tango::DEV_STRING</Font></Td>
@@ -175,11 +177,11 @@ In simulated mode, this device will only read state/status and positions from ax
</Tr>
<Tr>
<Td>XAxisPluginType</Td>
- <td>No default value</td>
+ <td>StandardMotor</td>
</Tr>
<Tr>
<Td>YAxisPluginType</Td>
- <td>No default value</td>
+ <td>StandardMotor</td>
</Tr>
<Tr>
<Td>YAxisPluginPath</Td>
@@ -195,23 +197,23 @@ In simulated mode, this device will only read state/status and positions from ax
</Tr>
<Tr>
<Td>XAxisMaxPosition</Td>
- <td>No default value</td>
+ <td>1</td>
</Tr>
<Tr>
<Td>XAxisMinPosition</Td>
- <td>No default value</td>
+ <td>0</td>
</Tr>
<Tr>
<Td>YAxisMaxPosition</Td>
- <td>No default value</td>
+ <td>1</td>
</Tr>
<Tr>
<Td>YAxisMinPosition</Td>
- <td>No default value</td>
+ <td>0</td>
</Tr>
<Tr>
<Td>DeviceMode</Td>
- <td>No default value</td>
+ <td>SIMULATED</td>
</Tr>
</Table>
@@ -435,7 +437,7 @@ The language device desctructor automatically calls the <i> delete_device() </i>
<A NAME="MoveYAxisRelative"><!-- --></A>
<h2>6 - MoveYAxisRelative</h2>
<ul>
-<Li><Strong>Description: </Strong> To move Y axis with a relative movement <Br> 
+<Li><Strong>Description: </Strong> To move Y axis with a relative movement<Br> 
<Li><Strong>Argin:<Br>DEV_DOUBLE</Strong>
: <Br> 
<Li><Strong>Argout:<Br>DEV_VOID</Strong>
@@ -449,8 +451,7 @@ The language device desctructor automatically calls the <i> delete_device() </i>
<A NAME="ApplyRelativeMovementOnAxes"><!-- --></A>
<h2>7 - ApplyRelativeMovementOnAxes</h2>
<ul>
-<Li><Strong>Description: </Strong> Argin[0] = movementOnXAxis;
-Argin[1] = movementOnYAxis<Br> 
+<Li><Strong>Description: </Strong> Argin[1] = movementOnYAxis<Br> 
<Li><Strong>Argin:<Br>DEVVAR_DOUBLEARRAY</Strong>
: <Br> 
<Li><Strong>Argout:<Br>DEV_VOID</Strong>
diff --git a/ActuatorSystem/pom.xml b/ActuatorSystem/pom.xml
old mode 100644
new mode 100755
index a6b6bb0df4247dfb94b40d300d00eaae4ae41bbe..d79d934fbbde63945b5a5a3aed438a7525bba433
--- a/ActuatorSystem/pom.xml
+++ b/ActuatorSystem/pom.xml
@@ -4,7 +4,7 @@
<parent>
<groupId>fr.soleil.device</groupId>
<artifactId>ActuatorSystem</artifactId>
- <version>1.0.8-SNAPSHOT</version>
+ <version>1.1.0-SNAPSHOT</version>
</parent>
<groupId>fr.soleil.device.ActuatorSystem</groupId>
@@ -37,9 +37,8 @@
<includePath>${project.basedir}/include</includePath>
</includePaths>
<defines>
- <define>PROJECT_NAME=${project.name}</define>
- <define>PROJECT_VERSION=${project.version}</define>
- <define>actuatorSystem_PROJECT_VERSION=${actuatorSystem.version}</define>
+ <define>PROJECT_NAME=${project.name}</define>
+ <define>PROJECT_VERSION=${project.version}</define>
</defines>
</cpp>
</configuration>
@@ -62,13 +61,7 @@
</dependency>
<dependency>
<groupId>fr.soleil.device.ActuatorSystem.ActuatorPlugins</groupId>
- <artifactId>GalilAxisPlugin-${aol}-shared-${mode}</artifactId>
- <version>${project.version}</version>
- <scope>runtime></scope>
- </dependency>
- <dependency>
- <groupId>fr.soleil.device.ActuatorSystem.ActuatorPlugins</groupId>
- <artifactId>SimulatedAxisPlugin-${aol}-shared-${mode}</artifactId>
+ <artifactId>StandardMotorPlugin-${aol}-shared-${mode}</artifactId>
<version>${project.version}</version>
<scope>runtime></scope>
</dependency>
diff --git a/ActuatorSystem/src/ASTaskManager.cpp b/ActuatorSystem/src/ASTaskManager.cpp
old mode 100644
new mode 100755
index 633ba3c75847483025223655bed6095b5bcc91a6..2e2c50456a2d0d352491b1ed2524b26f0c817ef9
--- a/ActuatorSystem/src/ASTaskManager.cpp
+++ b/ActuatorSystem/src/ASTaskManager.cpp
@@ -18,7 +18,8 @@
static const unsigned short kPERIODIC_TMOUT_MS = 10;
-namespace ActuatorSystem_ns{
+namespace ActuatorSystem_ns
+{
std::string X_AXIS_ID = "xAxis";
std::string Y_AXIS_ID = "yAxis";
@@ -98,9 +99,9 @@ ASTaskManager::~ASTaskManager ()
enable_periodic_msg(false);
yat::MutexLock gardDataMutex(m_dataMutex);
- delete this->m_xActuatorPlugin;
+ delete m_xActuatorPlugin;
- delete this->m_yActuatorPlugin;
+ delete m_yActuatorPlugin;
m_initCompleted = false;
@@ -109,7 +110,6 @@ ASTaskManager::~ASTaskManager ()
// ASTaskManager::process_message
// ============================================================================
void ASTaskManager::process_message (yat::Message& _msg)
- throw (Tango::DevFailed)
{
//DEBUG_STREAM << "ASTaskManager::process_message::receiving msg " <<_msg.to_string() << std::endl;
//- handle msg
@@ -131,19 +131,21 @@ void ASTaskManager::process_message (yat::Message& _msg)
enable_periodic_msg(false);
//Try to create both plugins : X and Y axis
if (actuatorPluginInitialisation(m_xAxisPluginType, m_xPluginPath, X_AXIS_ID) &&
- actuatorPluginInitialisation(m_yAxisPluginType, m_yPluginPath, Y_AXIS_ID)){
- //if creation is ok then start them
- if(startPlugins()){
- //Init axes units
- initAxesUnits();
- //Enable periodic
- enable_periodic_msg(true);
- stateStatus.state = Tango::STANDBY;
- stateStatus.status = "Initialisation done, ready to start ...";
- updateTaskStateStatus(stateStatus);
- m_initCompleted = true;
- }
- }
+ actuatorPluginInitialisation(m_yAxisPluginType, m_yPluginPath, Y_AXIS_ID))
+ {
+ //if creation is ok then start them
+ if(startPlugins())
+ {
+ //Init axes units
+ initAxesUnits();
+ //Enable periodic
+ enable_periodic_msg(true);
+ stateStatus.state = Tango::STANDBY;
+ stateStatus.status = "Initialisation done, ready to start ...";
+ updateTaskStateStatus(stateStatus);
+ m_initCompleted = true;
+ }
+ }
}
//- TASK_PERIODIC ------------------
@@ -266,11 +268,11 @@ void ASTaskManager::process_message (yat::Message& _msg)
//- UNHANDLED MSG --------------------
default:
-
DEBUG_STREAM << "ASTaskManager::handle_message::unhandled msg type received" << std::endl;
break;
}
}
+
//-----------------------------------------------------------------------------
//
//
@@ -283,13 +285,16 @@ void ASTaskManager::process_message (yat::Message& _msg)
// method : BPTTaskManager::i_setXAxisCalibrationState(bool state)
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_setXAxisCalibrationState(bool state)throw (Tango::DevFailed){
-
- if(getTaskCurrentState().state != Tango::MOVING){
+void ASTaskManager::i_setXAxisCalibrationState(bool state)
+{
+ if(getTaskCurrentState().state != Tango::MOVING)
+ {
yat::Message *xCalibrationStateMsg = new yat::Message(kSET_X_AXIS_CALIBRATION_STATE);
xCalibrationStateMsg->attach_data(state);
post(xCalibrationStateMsg);
- }else{
+ }
+ else
+ {
THROW_DEVFAILED("DEVICE_ERROR",
"System can't change calibration state in moving state",
"ASTaskManager::i_setXAxisCalibrationState");
@@ -300,13 +305,16 @@ void ASTaskManager::i_setXAxisCalibrationState(bool state)throw (Tango::DevFaile
// method : BPTTaskManager::i_setYAxisCalibrationState(bool state)
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_setYAxisCalibrationState(bool state)throw (Tango::DevFailed){
-
- if(getTaskCurrentState().state != Tango::MOVING){
+void ASTaskManager::i_setYAxisCalibrationState(bool state)
+{
+ if(getTaskCurrentState().state != Tango::MOVING)
+ {
yat::Message *yCalibrationStateMsg = new yat::Message(kSET_Y_AXIS_CALIBRATION_STATE);
yCalibrationStateMsg->attach_data(state);
post(yCalibrationStateMsg);
- }else{
+ }
+ else
+ {
THROW_DEVFAILED("DEVICE_ERROR",
"System can't change calibration state in moving state",
"ASTaskManager::i_setYAxisCalibrationState");
@@ -317,9 +325,10 @@ void ASTaskManager::i_setYAxisCalibrationState(bool state)throw (Tango::DevFaile
// method : BPTTaskManager::i_moveAxes(int xAxisRelativeMovement, int yAxisRelativeMovement)
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_moveAxes(double xAxisRelativeMovement, double yAxisRelativeMovement){
-
- if(getTaskCurrentState().state != Tango::MOVING){
+void ASTaskManager::i_moveAxes(double xAxisRelativeMovement, double yAxisRelativeMovement)
+{
+ if(getTaskCurrentState().state != Tango::MOVING)
+ {
m_movementStarted = true;
StateStatus movementStartStateStatus;
movementStartStateStatus.state = Tango::MOVING;
@@ -332,7 +341,9 @@ void ASTaskManager::i_moveAxes(double xAxisRelativeMovement, double yAxisRelativ
xMovementMsg->attach_data(axesTranslations);
//Sending message synchronously
wait_msg_handled(xMovementMsg, DEFAULT_ACTUATOR_SYSTEM_TIMEOUT);
- }else{
+ }
+ else
+ {
THROW_DEVFAILED("DEVICE_ERROR",
"System can't move an axis while moving state",
"ASTaskManager::i_writeXAxisPosition");
@@ -343,9 +354,11 @@ void ASTaskManager::i_moveAxes(double xAxisRelativeMovement, double yAxisRelativ
// method : BPTTaskManager::i_moveXAxis(double movement)
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_moveXAxis(double movement){
+void ASTaskManager::i_moveXAxis(double movement)
+{
- if(getTaskCurrentState().state != Tango::MOVING){
+ if(getTaskCurrentState().state != Tango::MOVING)
+ {
m_movementStarted = true;
StateStatus movementStartStateStatus;
movementStartStateStatus.state = Tango::MOVING;
@@ -355,7 +368,9 @@ void ASTaskManager::i_moveXAxis(double movement){
xMovementMsg->attach_data(movement);
//Sending message synchronously
wait_msg_handled(xMovementMsg, DEFAULT_ACTUATOR_SYSTEM_TIMEOUT);
- }else{
+ }
+ else
+ {
THROW_DEVFAILED("DEVICE_ERROR",
"System can't move an axis while moving state",
"ASTaskManager::i_writeXAxisPosition");
@@ -366,9 +381,11 @@ void ASTaskManager::i_moveXAxis(double movement){
// method : BPTTaskManager::i_moveYAxis(double movement)
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_moveYAxis(double movement){
+void ASTaskManager::i_moveYAxis(double movement)
+{
- if(getTaskCurrentState().state != Tango::MOVING){
+ if(getTaskCurrentState().state != Tango::MOVING)
+ {
m_movementStarted = true;
StateStatus movementStartStateStatus;
movementStartStateStatus.state = Tango::MOVING;
@@ -378,7 +395,9 @@ void ASTaskManager::i_moveYAxis(double movement){
yMovementMsg->attach_data(movement);
//Sending message synchronously
wait_msg_handled(yMovementMsg, DEFAULT_ACTUATOR_SYSTEM_TIMEOUT);
- }else{
+ }
+ else
+ {
THROW_DEVFAILED("DEVICE_ERROR",
"System can't move an axis while moving state",
"ASTaskManager::i_writeYAxisPosition");
@@ -389,7 +408,8 @@ void ASTaskManager::i_moveYAxis(double movement){
// method : BPTTaskManager::i_setXAxisPosition(double position)
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_setXAxisPosition(double position){
+void ASTaskManager::i_setXAxisPosition(double position)
+{
m_movementStarted = true;
StateStatus movementStartStateStatus;
movementStartStateStatus.state = Tango::MOVING;
@@ -405,7 +425,8 @@ void ASTaskManager::i_setXAxisPosition(double position){
// method : BPTTaskManager::i_setYAxisPosition(double position)
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_setYAxisPosition(double position){
+void ASTaskManager::i_setYAxisPosition(double position)
+{
m_movementStarted = true;
StateStatus movementStartStateStatus;
movementStartStateStatus.state = Tango::MOVING;
@@ -421,7 +442,8 @@ void ASTaskManager::i_setYAxisPosition(double position){
// method : BPTTaskManager::i_stopAxes()
//
//-----------------------------------------------------------------------------
-void ASTaskManager::i_stopAxes(){
+void ASTaskManager::i_stopAxes()
+{
yat::Message *stopAxesMessage = new yat::Message(kSTOP_AXES, MAX_USER_PRIORITY, true);
wait_msg_handled(stopAxesMessage, DEFAULT_ACTUATOR_SYSTEM_TIMEOUT);
}
@@ -438,7 +460,8 @@ void ASTaskManager::i_stopAxes(){
// method : BPTTaskManager::i_getManagerDataPacket()
//
//-----------------------------------------------------------------------------
-ASTaskManager::TaskManagerDataPacket ASTaskManager::i_getManagerDataPacket(){
+ASTaskManager::TaskManagerDataPacket ASTaskManager::i_getManagerDataPacket()
+{
yat::MutexLock gardDataMutex(m_dataMutex);
return m_managerDataPacket;
@@ -448,7 +471,8 @@ ASTaskManager::TaskManagerDataPacket ASTaskManager::i_getManagerDataPacket(){
// method : BPTTaskManager::i_getAxesUnits()
//
//-----------------------------------------------------------------------------
-ASTaskManager::AxesUnits ASTaskManager::i_getAxesUnits(){
+ASTaskManager::AxesUnits ASTaskManager::i_getAxesUnits()
+{
return m_axesUnits;
}
@@ -466,13 +490,18 @@ ASTaskManager::AxesUnits ASTaskManager::i_getAxesUnits(){
// description :
//
//-----------------------------------------------------------------------------
-void ASTaskManager::stopAxesMovement(){
+void ASTaskManager::stopAxesMovement()
+{
StateStatus stopCmd;
- if(!m_simulatedMode){
- try{
+ if(!m_simulatedMode)
+ {
+ try
+ {
m_xActuatorPlugin->stopAxisMovement();
m_yActuatorPlugin->stopAxisMovement();
- }catch(...){
+ }
+ catch(...)
+ {
stopCmd.state = Tango::FAULT;
stopCmd.status = "Couldn't stop axes";
updateTaskStateStatus(stopCmd);
@@ -493,18 +522,26 @@ void ASTaskManager::moveAxisPosition(double relativeMovement, std::string axisId
updateTaskStateStatus(movement);
- if (relativeMovement != 0){
+ if (relativeMovement != 0)
+ {
double currentAxisPosition = 0;
double newPosition = 0;
- if(axisId == X_AXIS_ID){
+ if(axisId == X_AXIS_ID)
+ {
if (m_simulatedMode)
+ {
m_simulatedXTranslation = relativeMovement;
- else { // Act normal
+ }
+ else
+ { // Act normal
// check new position - Setting lower/upper limit if out of bounds
- try{
+ try
+ {
currentAxisPosition = m_xActuatorPlugin->getAxisCurrentPosition();
newPosition = currentAxisPosition + relativeMovement;
- }catch(...){
+ }
+ catch(...)
+ {
movement.state = Tango::FAULT;
movement.status = "Couldn't getAxisCurrentPosition while axis " + axisId + " positionning..";
updateTaskStateStatus(movement);
@@ -513,15 +550,22 @@ void ASTaskManager::moveAxisPosition(double relativeMovement, std::string axisId
setAxisPosition(newPosition, X_AXIS_ID);
}
}
- else if (axisId == Y_AXIS_ID){
+ else if (axisId == Y_AXIS_ID)
+ {
if (m_simulatedMode)
+ {
m_simulatedYTranslation = relativeMovement;
- else { // Act normal
+ }
+ else
+ { // Act normal
// check new position - Setting lower or upper limit if out of bounds
- try{
+ try
+ {
currentAxisPosition = m_yActuatorPlugin->getAxisCurrentPosition();
newPosition = currentAxisPosition + relativeMovement;
- }catch(...){
+ }
+ catch(...)
+ {
movement.state = Tango::FAULT;
movement.status = "Couldn't getAxisCurrentPosition while axis " + axisId + " positionning..";
updateTaskStateStatus(movement);
@@ -546,47 +590,63 @@ void ASTaskManager::setAxisPosition(double position, std::string axisId){
updateTaskStateStatus(movement);
- if(axisId == X_AXIS_ID){
- try{
- if (position >= m_xAxisMaxPosition){
- m_axesPositionningState.xLimitReached = true;
- m_axesPositionningState.xLimitStatus = "Upper limit has been reached on X axis !";
- m_xActuatorPlugin->setAxisPosition(m_xAxisMaxPosition);
- }else if (position <= m_xAxisMinPosition){
- m_axesPositionningState.xLimitReached = true;
- m_axesPositionningState.xLimitStatus = "Lower limit has been reached on X axis !";
- m_xActuatorPlugin->setAxisPosition(m_xAxisMinPosition);
- }else if ((position < m_xAxisMaxPosition) && (position > m_xAxisMinPosition)){
- m_axesPositionningState.xLimitReached = false;
- m_xActuatorPlugin->setAxisPosition(position);
- }
- }catch(...){
- movement.state = Tango::FAULT;
- movement.status = "Couldn't move axis " + axisId;
- updateTaskStateStatus(movement);
+ if(axisId == X_AXIS_ID)
+ {
+ try
+ {
+ if (position >= m_xAxisMaxPosition)
+ {
+ m_axesPositionningState.xLimitReached = true;
+ m_axesPositionningState.xLimitStatus = "Upper limit has been reached on X axis !";
+ m_xActuatorPlugin->setAxisPosition(m_xAxisMaxPosition);
+ }
+ else if (position <= m_xAxisMinPosition)
+ {
+ m_axesPositionningState.xLimitReached = true;
+ m_axesPositionningState.xLimitStatus = "Lower limit has been reached on X axis !";
+ m_xActuatorPlugin->setAxisPosition(m_xAxisMinPosition);
}
+ else if ((position < m_xAxisMaxPosition) && (position > m_xAxisMinPosition))
+ {
+ m_axesPositionningState.xLimitReached = false;
+ m_xActuatorPlugin->setAxisPosition(position);
+ }
+ }
+ catch(...)
+ {
+ movement.state = Tango::FAULT;
+ movement.status = "Couldn't move axis " + axisId;
+ updateTaskStateStatus(movement);
+ }
}
- else if (axisId == Y_AXIS_ID){
- try{
- if (position >= m_yAxisMaxPosition){
- m_axesPositionningState.yLimitReached = true;
- m_axesPositionningState.yLimitStatus = "Upper limit has been reached on Y axis !";
- m_yActuatorPlugin->setAxisPosition(m_yAxisMaxPosition);
- }else if (position <= m_yAxisMinPosition){
- m_axesPositionningState.yLimitReached = true;
- m_axesPositionningState.yLimitStatus = "Lower limit has been reached on Y axis !";
- m_yActuatorPlugin->setAxisPosition(m_yAxisMinPosition);
- }else if((position < m_yAxisMaxPosition) && (position > m_yAxisMinPosition)){
- m_yActuatorPlugin->setAxisPosition(position);
- m_axesPositionningState.yLimitReached = false;
- }
- }catch(...){
- movement.state = Tango::FAULT;
- movement.status = "Couldn't move axis " + axisId;
- updateTaskStateStatus(movement);
+ else if (axisId == Y_AXIS_ID)
+ {
+ try{
+ if (position >= m_yAxisMaxPosition)
+ {
+ m_axesPositionningState.yLimitReached = true;
+ m_axesPositionningState.yLimitStatus = "Upper limit has been reached on Y axis !";
+ m_yActuatorPlugin->setAxisPosition(m_yAxisMaxPosition);
+ }
+ else if (position <= m_yAxisMinPosition)
+ {
+ m_axesPositionningState.yLimitReached = true;
+ m_axesPositionningState.yLimitStatus = "Lower limit has been reached on Y axis !";
+ m_yActuatorPlugin->setAxisPosition(m_yAxisMinPosition);
}
+ else if((position < m_yAxisMaxPosition) && (position > m_yAxisMinPosition))
+ {
+ m_yActuatorPlugin->setAxisPosition(position);
+ m_axesPositionningState.yLimitReached = false;
+ }
+ }
+ catch(...)
+ {
+ movement.state = Tango::FAULT;
+ movement.status = "Couldn't move axis " + axisId;
+ updateTaskStateStatus(movement);
+ }
}
-
}
//+----------------------------------------------------------------------------
//
@@ -595,39 +655,55 @@ void ASTaskManager::setAxisPosition(double position, std::string axisId){
// description :
//
//-----------------------------------------------------------------------------
-bool ASTaskManager::refreshAxes(){
+bool ASTaskManager::refreshAxes()
+{
yat::MutexLock gardDataMutex(m_dataMutex);
//Getting position will refresh state
- if ((m_xActuatorPlugin != NULL) && (m_yActuatorPlugin != NULL)){
+ if ((m_xActuatorPlugin != NULL) && (m_yActuatorPlugin != NULL))
+ {
AS::ActuatorInterface::ActuatorInterface::AxisStateStatus xAxisStatus;
- try{
+ try
+ {
m_managerDataPacket.xAxisPosition = m_xActuatorPlugin->getAxisCurrentPosition();
xAxisStatus = m_xActuatorPlugin->getAxisStateStatus();
- }catch(...){
+ }
+ catch(...)
+ {
m_managerDataPacket.taskStateStatus.state = Tango::FAULT;
m_managerDataPacket.taskStateStatus.status = "At least one axis plugin is not correctly initialized! Try to Init...";
return false;
}
//Check if x axis is out of bounds
- if ((m_managerDataPacket.xAxisPosition > m_xAxisMaxPosition) || (m_managerDataPacket.xAxisPosition < m_xAxisMinPosition))
+ if ((m_managerDataPacket.xAxisPosition > m_xAxisMaxPosition) || (m_managerDataPacket.xAxisPosition < m_xAxisMinPosition))
+ {
m_axesPositionningState.xAxisPositionOutOfBounds = true;
+ }
else
+ {
m_axesPositionningState.xAxisPositionOutOfBounds = false;
+ }
AS::ActuatorInterface::ActuatorInterface::AxisStateStatus yAxisStatus;
- try{
+ try
+ {
m_managerDataPacket.yAxisPosition = m_yActuatorPlugin->getAxisCurrentPosition();
yAxisStatus = m_yActuatorPlugin->getAxisStateStatus();
- }catch(...){
+ }
+ catch(...)
+ {
m_managerDataPacket.taskStateStatus.state = Tango::FAULT;
m_managerDataPacket.taskStateStatus.status = "At least one axis plugin is not correctly initialized! Try to Init...";
return false;
}
//Check if y axis is out of bounds
if ((m_managerDataPacket.yAxisPosition > m_yAxisMaxPosition) || (m_managerDataPacket.yAxisPosition < m_yAxisMinPosition))
+ {
m_axesPositionningState.yAxisPositionOutOfBounds = true;
- else
+ }
+ else
+ {
m_axesPositionningState.yAxisPositionOutOfBounds = false;
+ }
//Update axes state and status
m_managerDataPacket.xStateStatus.state = xAxisStatus.axisState;
@@ -636,7 +712,8 @@ bool ASTaskManager::refreshAxes(){
m_managerDataPacket.yStateStatus.status = yAxisStatus.axisStatus;
//Only check connexions status -
- if(!xAxisStatus.isConnexionOperational){
+ if(!xAxisStatus.isConnexionOperational)
+ {
m_managerDataPacket.taskStateStatus.state = Tango::FAULT;
m_managerDataPacket.taskStateStatus.status = "Connexion with X Axis not operational! Check X Axis device then try to Init";
m_managerDataPacket.xStateStatus.state = Tango::FAULT;
@@ -644,7 +721,9 @@ bool ASTaskManager::refreshAxes(){
m_managerDataPacket.yStateStatus.state = Tango::FAULT;
m_managerDataPacket.yStateStatus.status = "";
return false;
- }else if(!yAxisStatus.isConnexionOperational){
+ }
+ else if(!yAxisStatus.isConnexionOperational)
+ {
m_managerDataPacket.taskStateStatus.state = Tango::FAULT;
m_managerDataPacket.taskStateStatus.status = "Connexion with Y Axis not operational! Check Y Axis device then try to Init";
m_managerDataPacket.xStateStatus.state = Tango::FAULT;
@@ -654,7 +733,9 @@ bool ASTaskManager::refreshAxes(){
return false;
}
return true;
- }else{
+ }
+ else
+ {
m_managerDataPacket.taskStateStatus.state = Tango::FAULT;
m_managerDataPacket.taskStateStatus.status = "At least one axis plugin is not correctly initialized! Try to Init...";
}
@@ -666,40 +747,51 @@ bool ASTaskManager::refreshAxes(){
// description :
//
//-----------------------------------------------------------------------------
-void ASTaskManager::refreshTaskState(){
-
+void ASTaskManager::refreshTaskState()
+{
yat::MutexLock gardDataMutex(m_dataMutex);
- if((m_managerDataPacket.xStateStatus.state == Tango::DISABLE) || (m_managerDataPacket.yStateStatus.state == Tango::DISABLE)){
+ if((m_managerDataPacket.xStateStatus.state == Tango::DISABLE) || (m_managerDataPacket.yStateStatus.state == Tango::DISABLE))
+ {
m_managerDataPacket.taskStateStatus.state = Tango::STANDBY;
m_managerDataPacket.taskStateStatus.status = "At least one axis is DISABLE, system is not ready to operate !";
}
- if((m_managerDataPacket.xStateStatus.state == Tango::OFF) || (m_managerDataPacket.yStateStatus.state == Tango::OFF)){
+ if((m_managerDataPacket.xStateStatus.state == Tango::OFF) || (m_managerDataPacket.yStateStatus.state == Tango::OFF))
+ {
m_managerDataPacket.taskStateStatus.state = Tango::STANDBY;
m_managerDataPacket.taskStateStatus.status = "At least one axis is OFF, system is not ready to operate !";
}
- if((m_managerDataPacket.xStateStatus.state == Tango::INIT) || (m_managerDataPacket.yStateStatus.state == Tango::INIT)){
+ if((m_managerDataPacket.xStateStatus.state == Tango::INIT) || (m_managerDataPacket.yStateStatus.state == Tango::INIT))
+ {
m_managerDataPacket.taskStateStatus.state = Tango::STANDBY;
m_managerDataPacket.taskStateStatus.status = "At least one axis is not initialize yet, system is not ready to operate !";
}
//Recently added -> To test !
- if((m_managerDataPacket.xStateStatus.state == Tango::ALARM) || (m_managerDataPacket.yStateStatus.state == Tango::ALARM)){
+ if((m_managerDataPacket.xStateStatus.state == Tango::ALARM) || (m_managerDataPacket.yStateStatus.state == Tango::ALARM))
+ {
m_managerDataPacket.taskStateStatus.state = Tango::STANDBY;
m_managerDataPacket.taskStateStatus.status = "At least one axis is in ALARM state, can't operate !";
}
- if((m_managerDataPacket.xStateStatus.state == Tango::MOVING) || (m_managerDataPacket.yStateStatus.state == Tango::MOVING)){
+ if((m_managerDataPacket.xStateStatus.state == Tango::MOVING) || (m_managerDataPacket.yStateStatus.state == Tango::MOVING))
+ {
m_managerDataPacket.taskStateStatus.state = Tango::MOVING;
m_managerDataPacket.taskStateStatus.status = "At least one axis is moving";
}
- if((m_managerDataPacket.xStateStatus.state == Tango::FAULT) || (m_managerDataPacket.yStateStatus.state == Tango::FAULT)){
+ if((m_managerDataPacket.xStateStatus.state == Tango::FAULT) || (m_managerDataPacket.yStateStatus.state == Tango::FAULT))
+ {
m_managerDataPacket.taskStateStatus.state = Tango::STANDBY;
m_managerDataPacket.taskStateStatus.status = "At least one axis is FAULT, system is not ready to operate !";
}
- if((m_managerDataPacket.xStateStatus.state == Tango::ON) && (m_managerDataPacket.yStateStatus.state == Tango::ON)){
- if(m_isXAxisCalibrated && m_isYAxisCalibrated){
+ if((m_managerDataPacket.xStateStatus.state == Tango::ON) && (m_managerDataPacket.yStateStatus.state == Tango::ON))
+ {
+ if(m_isXAxisCalibrated && m_isYAxisCalibrated)
+ {
m_managerDataPacket.taskStateStatus.state = Tango::ON;
if(!m_simulatedMode)
+ {
m_managerDataPacket.taskStateStatus.status = "Actuator System ready";
- else { // Simulated mode : Status with current oreder informations
+ }
+ else
+ { // Simulated mode : Status with current oreder informations
yat::MutexLock gardDataMutex(m_dataMutex);
ostringstream convertStepsX;
convertStepsX<<m_simulatedXTranslation;
@@ -713,17 +805,21 @@ void ASTaskManager::refreshTaskState(){
\n-> Y axis should move with " + stepsNbStrY + " setps ";
}
- }else{
+ }
+ else
+ {
m_managerDataPacket.taskStateStatus.state = Tango::STANDBY;
m_managerDataPacket.taskStateStatus.status = "Make sure that both X and Y axes are calibrated !";
}
}
- if((m_axesPositionningState.xAxisPositionOutOfBounds || m_axesPositionningState.yAxisPositionOutOfBounds)){
+ if((m_axesPositionningState.xAxisPositionOutOfBounds || m_axesPositionningState.yAxisPositionOutOfBounds))
+ {
m_managerDataPacket.taskStateStatus.state = Tango::ALARM;
m_managerDataPacket.taskStateStatus.status = "Actuator system can't operate with at least one axis out of bounds !";
- if (m_axesPositionningState.xAxisPositionOutOfBounds){
+ if (m_axesPositionningState.xAxisPositionOutOfBounds)
+ {
ostringstream maxPosXStream;
maxPosXStream<<m_xAxisMaxPosition;
std::string maxPosXStr = maxPosXStream.str();
@@ -733,7 +829,8 @@ void ASTaskManager::refreshTaskState(){
m_managerDataPacket.taskStateStatus.status = m_managerDataPacket.taskStateStatus.status +
"\nX Axis is out of bounds : [" + minPosXStr + " - " + maxPosXStr + "]";
}
- if (m_axesPositionningState.yAxisPositionOutOfBounds){
+ if (m_axesPositionningState.yAxisPositionOutOfBounds)
+ {
ostringstream maxPosYStream;
maxPosYStream<<m_yAxisMaxPosition;
std::string maxPosYStr = maxPosYStream.str();
@@ -746,12 +843,15 @@ void ASTaskManager::refreshTaskState(){
}
if(m_axesPositionningState.xLimitReached)
+ {
m_managerDataPacket.taskStateStatus.status = m_managerDataPacket.taskStateStatus.status + "\n" +
m_axesPositionningState.xLimitStatus;
-
+ }
if (m_axesPositionningState.yLimitReached)
+ {
m_managerDataPacket.taskStateStatus.status = m_managerDataPacket.taskStateStatus.status + "\n" +
m_axesPositionningState.yLimitStatus;
+ }
}
//+----------------------------------------------------------------------------
@@ -761,18 +861,24 @@ void ASTaskManager::refreshTaskState(){
// description : To start actuator plugin.
//
//-----------------------------------------------------------------------------
-bool ASTaskManager::startPlugins(){
+bool ASTaskManager::startPlugins()
+{
StateStatus stateStatus;
- try{
+ try
+ {
m_xActuatorPlugin->init(m_hostDev, m_xAxisDeviceAdress);
m_yActuatorPlugin->init(m_hostDev, m_yAxisDeviceAdress);
return true;
- }catch(Tango::DevFailed &df){
+ }
+ catch(Tango::DevFailed &df)
+ {
stateStatus.state = Tango::FAULT;
stateStatus.status = "Couldn't start at least one plugin : caught DevFailed exception..";
updateTaskStateStatus(stateStatus);
return false;
- }catch(...){
+ }
+ catch(...)
+ {
stateStatus.state = Tango::FAULT;
stateStatus.status = "Couldn't start at least one plugin : caught (...) exception..";
updateTaskStateStatus(stateStatus);
@@ -786,7 +892,8 @@ bool ASTaskManager::startPlugins(){
// description : To init axes units.
//
//-----------------------------------------------------------------------------
-void ASTaskManager::initAxesUnits(){
+void ASTaskManager::initAxesUnits()
+{
m_axesUnits.xAxisUnit = m_xActuatorPlugin->getAxisUnit();
m_axesUnits.yAxisUnit = m_yActuatorPlugin->getAxisUnit();
}
@@ -798,51 +905,66 @@ void ASTaskManager::initAxesUnits(){
// description : To initialize actuator plugin.
//
//-----------------------------------------------------------------------------
-bool ASTaskManager::actuatorPluginInitialisation(std::string axisPluginType, std::string pluginPath, std::string axisId){
+bool ASTaskManager::actuatorPluginInitialisation(std::string axisPluginType, std::string pluginPath, std::string axisId)
+{
StateStatus stateStatus;
// STEP 1 : Load actuator plugin
- try{
+ try
+ {
// use the plugin manager
std::pair<yat::IPlugInInfo*, yat::IPlugInFactory*> plugin;
plugin = ASPluginManager::instance().load(pluginPath);
m_pluginInfo = plugin.first;
m_pluginFactory = plugin.second;
}
- catch (Tango::DevFailed& df){
+ catch (Tango::DevFailed& df)
+ {
stateStatus.state = Tango::FAULT;
stateStatus.status = "Error on loading Power Supply Control plugin!";
updateTaskStateStatus(stateStatus);
return false;
}
- catch (...){
+ catch (...)
+ {
stateStatus.state = Tango::FAULT;
- stateStatus.status = "Plugin load failed!";
+ stateStatus.status = "Plugin load failed: The plugin path does not exist";
updateTaskStateStatus(stateStatus);
return false;
}
// STEP 2 : Interface name check
- if (pluginPath != ""){
- if ( m_pluginInfo->get_plugin_id() == axisPluginType ){
+ if (pluginPath != "")
+ {
+ std::string plugin_info_id_str = m_pluginInfo->get_plugin_id();
+ std::transform(plugin_info_id_str.begin(), plugin_info_id_str.end(), plugin_info_id_str.begin(), ::toupper);
+
+ if ( plugin_info_id_str == axisPluginType )
+ {
string id = m_pluginInfo->get_plugin_id();
//Plugin factory instanciation:
yat::IPlugInObject* obj;
m_pluginFactory->create(obj);
if(axisId == X_AXIS_ID)
+ {
m_xActuatorPlugin = reinterpret_cast<AS::ActuatorInterface::ActuatorInterface*>(obj);
+ }
else if(axisId == Y_AXIS_ID)
+ {
m_yActuatorPlugin = reinterpret_cast<AS::ActuatorInterface::ActuatorInterface*>(obj);
+ }
}
- else{
+ else
+ {
stateStatus.state = Tango::FAULT;
stateStatus.status = "Error on loading plugin: bad actuator type name : " + axisPluginType + "\nOn axis " + axisId;
updateTaskStateStatus(stateStatus);
return false;
}
}
- else{
+ else
+ {
stateStatus.state = Tango::FAULT;
stateStatus.status = "Error on loading plugin: pluginPath for axis " + axisId + "is empty !";
updateTaskStateStatus(stateStatus);
@@ -850,22 +972,29 @@ bool ASTaskManager::actuatorPluginInitialisation(std::string axisPluginType, std
}
// STEP 3 : Init plugin
- try{
+ try
+ {
// Use the plugin helper
yat4tango::DevicePlugInHelper myPluginHelper(m_hostDev, _dynAttrManager);
if(axisId == X_AXIS_ID)
+ {
myPluginHelper.register_plugin(m_xActuatorPlugin);
+ }
else if(axisId == Y_AXIS_ID)
+ {
myPluginHelper.register_plugin(m_yActuatorPlugin);
+ }
}
- catch (Tango::DevFailed & df){
+ catch (Tango::DevFailed & df)
+ {
stateStatus.state = Tango::FAULT;
stateStatus.status = "Failed to register Power Supply Control plugin for " + axisId;
updateTaskStateStatus(stateStatus);
return false;
}
- catch (...){
+ catch (...)
+ {
stateStatus.state = Tango::FAULT;
stateStatus.status = "Failed to register Power Supply Control plugin for " + axisId;
updateTaskStateStatus(stateStatus);
@@ -882,7 +1011,8 @@ bool ASTaskManager::actuatorPluginInitialisation(std::string axisPluginType, std
// description : Serialize the state/status update
//
//-----------------------------------------------------------------------------
-void ASTaskManager::updateTaskStateStatus(StateStatus stateStatus){
+void ASTaskManager::updateTaskStateStatus(StateStatus stateStatus)
+{
yat::MutexLock gardDataMutex(m_dataMutex);
m_managerDataPacket.taskStateStatus = stateStatus;
}
@@ -893,7 +1023,8 @@ void ASTaskManager::updateTaskStateStatus(StateStatus stateStatus){
// description :
//
//-----------------------------------------------------------------------------
-ASTaskManager::StateStatus ASTaskManager::getTaskCurrentState(){
+ASTaskManager::StateStatus ASTaskManager::getTaskCurrentState()
+{
return m_managerDataPacket.taskStateStatus;
}
} // Namespace ASTaskManager
diff --git a/ActuatorSystem/src/ASTaskManager.h b/ActuatorSystem/src/ASTaskManager.h
old mode 100644
new mode 100755
index af164aebb3c2a424ee4e3c500d7387401531f72a..1d956fc33cf8ea34660bd7f7c292dd659b95c081
--- a/ActuatorSystem/src/ASTaskManager.h
+++ b/ActuatorSystem/src/ASTaskManager.h
@@ -88,8 +88,8 @@ public:
//COMMANDS
- void i_setXAxisCalibrationState(bool state)throw (Tango::DevFailed);
- void i_setYAxisCalibrationState(bool state)throw (Tango::DevFailed);
+ void i_setXAxisCalibrationState(bool state);
+ void i_setYAxisCalibrationState(bool state);
void i_moveXAxis(double movement);
void i_moveYAxis(double movement);
@@ -103,8 +103,7 @@ public:
protected:
//- process_message (implements yat4tango::DeviceTask pure virtual method)
- virtual void process_message (yat::Message& msg)
- throw (Tango::DevFailed);
+ virtual void process_message (yat::Message& msg);
//Mutex for data access
yat::Mutex m_dataMutex;
diff --git a/ActuatorSystem/src/ActuatorSystem.cpp b/ActuatorSystem/src/ActuatorSystem.cpp
old mode 100644
new mode 100755
index 6ebd30e4ed5f83cb818a33f834b1e26af63b6a4c..b9d0fdfe5906969e5d25a6fc020f4c47e0c7cce0
--- a/ActuatorSystem/src/ActuatorSystem.cpp
+++ b/ActuatorSystem/src/ActuatorSystem.cpp
@@ -104,17 +104,22 @@ void ActuatorSystem::delete_device()
{
if (_taskManager)
+ {
delete _taskManager;
+ }
- // delete _dynAttrManager
- if (this->_dynAttrManager){
- try{
- _dynAttrManager->remove_attributes();
+ // delete m_dyn_attr_manager
+ if (m_dyn_attr_manager)
+ {
+ try
+ {
+ m_dyn_attr_manager->remove_attributes();
}
- catch (...){
+ catch (...)
+ {
}
- delete this->_dynAttrManager;
- this->_dynAttrManager = NULL;
+ delete m_dyn_attr_manager;
+ m_dyn_attr_manager = NULL;
}
// Delete device allocated objects
@@ -137,45 +142,52 @@ void ActuatorSystem::delete_device()
//-----------------------------------------------------------------------------
void ActuatorSystem::init_device()
{
-
// Initialise variables to default values
//--------------------------------------------
get_device_property();
CREATE_SCALAR_ATTRIBUTE(attr_isYCalibrated_read, false);
CREATE_SCALAR_ATTRIBUTE(attr_isXCalibrated_read, false);
CREATE_SCALAR_ATTRIBUTE(attr_isSystemReady_read, false);
- _dynAttrManager = 0;
+ m_dyn_attr_manager = 0;
_taskManager = 0;
- this->_initDone = false;
+ _initDone = false;
INFO_STREAM << "Create the InnerAppender in order to manage logs." << endl;
yat4tango::InnerAppender::initialize(this);
INFO_STREAM << "Create the DeviceInfo in order to manage info on versions." << endl;
yat4tango::DeviceInfo::initialize( this, YAT_XSTR(PROJECT_NAME), YAT_XSTR(PROJECT_VERSION));
- yat4tango::DeviceInfo::add_dependency(this, "ActuatorSystem ", YAT_XSTR(actuatorSystem_PROJECT_VERSION));
INFO_STREAM << "ActuatorSystem::ActuatorSystem() create device " << device_name << endl;
std::string propertiesState = check_properties();
- if (propertiesState != PROPERTIES_OK){
+ if (propertiesState != PROPERTIES_OK)
+ {
set_status (propertiesState);
set_state (Tango::FAULT);
- }else{
+ }
+ else
+ {
bool simulated_mode = true;
//check Mode
if (deviceMode == NORMAL_MODE)
- simulated_mode = false;
+ {
+ simulated_mode = false;
+ }
// Creation of dynAttrManager
- try{
- _dynAttrManager = new yat4tango::DynamicAttributeManager(this);
- }catch( Tango::DevFailed& df ){
+ try
+ {
+ m_dyn_attr_manager = new yat4tango::DynamicAttributeManager(this);
+ }
+ catch( Tango::DevFailed& df )
+ {
ERROR_STREAM << df << std::endl;
set_status ("Initialization error [Tango Exception caught while instantiating DynamicAttributeManager]");
set_state (Tango::FAULT);
return;
}
- catch(...){
+ catch(...)
+ {
std::string err_msg = "Initialization error [unknown exception caught while instantiating DynamicAttributeManager]";
ERROR_STREAM << err_msg << std::endl;
set_status (err_msg);
@@ -192,21 +204,25 @@ void ActuatorSystem::init_device()
yAxisMinPositionInt = (int) yAxisMinPosition;
// Creation of ASTaskManager
- try{
- _taskManager = new ASTaskManager::ASTaskManager(this, _dynAttrManager,
+ try
+ {
+ _taskManager = new ASTaskManager::ASTaskManager(this, m_dyn_attr_manager,
xAxisPluginType, xAxisDeviceAdress,
yAxisPluginType, yAxisDeviceAdress,
xAxisPluginPath, yAxisPluginPath,
xAxisMinPositionInt, xAxisMaxPositionInt,
yAxisMinPositionInt, yAxisMaxPositionInt,
simulated_mode);
- }catch( Tango::DevFailed& df ){
+ }
+ catch( Tango::DevFailed& df )
+ {
ERROR_STREAM << df << std::endl;
set_status ("Initialization error [Tango Exception caught while instantiating ASTaskManager]");
set_state (Tango::FAULT);
return;
}
- catch(...){
+ catch(...)
+ {
std::string err_msg = "Initialization error [unknown exception caught while instantiating ASTaskManager]";
ERROR_STREAM << err_msg << std::endl;
set_status (err_msg);
@@ -214,7 +230,7 @@ void ActuatorSystem::init_device()
return;
}
// Start ASTaskManager
- try
+ try
{
if (_taskManager)
_taskManager->go(500);
@@ -241,7 +257,7 @@ void ActuatorSystem::init_device()
_taskManager = NULL;
return;
}
- this->_initDone = true;
+ _initDone = true;
//Task has been initialized, get axes units
setAxesUnits(_taskManager->i_getAxesUnits());
}
@@ -253,11 +269,11 @@ void ActuatorSystem::init_device()
// description : To set units on xPosition and yPosition attributes
//
//-----------------------------------------------------------------------------
-void ActuatorSystem::setAxesUnits(ASTaskManager::AxesUnits axesUnits){
+void ActuatorSystem::setAxesUnits(ASTaskManager::AxesUnits axesUnits)
+{
std::string xAxisUnit = axesUnits.xAxisUnit;
std::string yAxisUnit = axesUnits.yAxisUnit;
-
vector<string> vecPositionsAttributes;
Tango::DevVarStringArray dvsa_attribute;
vecPositionsAttributes.push_back("xPosition");
@@ -432,8 +448,8 @@ void ActuatorSystem::get_device_property()
// End of Automatic code generation
//------------------------------------------------------------------
- yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "SimulatedAxis", "XAxisPluginType");
- yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "SimulatedAxis", "YAxisPluginType");
+ yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "StandardMotor", "XAxisPluginType");
+ yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "StandardMotor", "YAxisPluginType");
yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "Precise/which/device", "XAxisPluginPath");
yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "Precise/which/device", "YAxisPluginPath");
yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "Precise/which/device", "XAxisDeviceAdress");
@@ -444,6 +460,9 @@ void ActuatorSystem::get_device_property()
yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "1", "YAxisMaxPosition");
yat4tango::PropertyHelper::create_property_if_empty(this, dev_prop, "SIMULATED", "DeviceMode");
+ std::transform(xAxisPluginType.begin(), xAxisPluginType.end(), xAxisPluginType.begin(), ::toupper);
+ std::transform(yAxisPluginType.begin(), yAxisPluginType.end(), yAxisPluginType.begin(), ::toupper);
+
}
//+----------------------------------------------------------------------------
//
@@ -454,8 +473,10 @@ void ActuatorSystem::get_device_property()
//-----------------------------------------------------------------------------
void ActuatorSystem::always_executed_hook()
{
- if(_initDone){
- if (_taskManager){
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
// Refresh beam data
ASTaskManager::ASTaskManager::TaskManagerDataPacket managerDataPacket = _taskManager->i_getManagerDataPacket();
// Update attributs values
@@ -494,13 +515,18 @@ void ActuatorSystem::write_xPosition(Tango::WAttribute &attr)
double newXPosition;
attr.get_write_value(newXPosition);
- if(_initDone){
- if (_taskManager){
- try{
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
+ try
+ {
set_state(Tango::MOVING);
set_status("Starting movement on x axis...");
_taskManager->i_setXAxisPosition(newXPosition);
- }catch(Tango::DevFailed &df){
+ }
+ catch(Tango::DevFailed &df)
+ {
RETHROW_DEVFAILED(df,"","","");
}
}
@@ -520,13 +546,18 @@ void ActuatorSystem::write_yPosition(Tango::WAttribute &attr)
double newYPosition;
attr.get_write_value(newYPosition);
- if(_initDone){
- if(_taskManager){
- try{
+ if(_initDone)
+ {
+ if(_taskManager)
+ {
+ try
+ {
set_state(Tango::MOVING);
set_status("Starting movement on y axis...");
_taskManager->i_setYAxisPosition(newYPosition);
- }catch(Tango::DevFailed &df){
+ }
+ catch(Tango::DevFailed &df)
+ {
RETHROW_DEVFAILED(df,"","","");
}
}
@@ -543,7 +574,7 @@ void ActuatorSystem::write_yPosition(Tango::WAttribute &attr)
void ActuatorSystem::read_isSystemReady(Tango::Attribute &attr)
{
DEBUG_STREAM << "ActuatorSystem::read_isSystemReady(Tango::Attribute &attr) entering... "<< endl;
- if (*attr_isXCalibrated_read && *attr_isYCalibrated_read && (this->get_state() == Tango::ON))
+ if (*attr_isXCalibrated_read && *attr_isYCalibrated_read && (get_state() == Tango::ON))
*attr_isSystemReady_read = true;
else
*attr_isSystemReady_read = false;
@@ -680,13 +711,17 @@ void ActuatorSystem::write_isXCalibrated(Tango::WAttribute &attr)
{
DEBUG_STREAM << "ActuatorSystem::write_isXCalibrated(Tango::WAttribute &attr) entering... "<< endl;
- if(_initDone){
- if (_taskManager){
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
attr.get_write_value(attr_isXCalibrated_write);
double tmpXRatio = attr_xLinearRatio_write;
//Check value of xLinearRatio
- if(attr_isXCalibrated_write){
- if(tmpXRatio != 0){
+ if(attr_isXCalibrated_write)
+ {
+ if(tmpXRatio != 0)
+ {
_taskManager->i_setXAxisCalibrationState(true);
//Update read value
*attr_isXCalibrated_read = attr_isXCalibrated_write;
@@ -699,7 +734,8 @@ void ActuatorSystem::write_isXCalibrated(Tango::WAttribute &attr)
(const char *)"ActuatorSystem::write_isXCalibrated(Tango::WAttribute &attr)");
}
}
- else{
+ else
+ {
*attr_isXCalibrated_read = attr_isXCalibrated_write;
_taskManager->i_setXAxisCalibrationState(false);
}
@@ -730,13 +766,17 @@ void ActuatorSystem::read_isYCalibrated(Tango::Attribute &attr)
void ActuatorSystem::write_isYCalibrated(Tango::WAttribute &attr)
{
DEBUG_STREAM << "ActuatorSystem::write_isYCalibrated(Tango::WAttribute &attr) entering... "<< endl;
- if(_initDone){
- if (_taskManager){
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
attr.get_write_value(attr_isYCalibrated_write);
double tmpYRatio = attr_yLinearRatio_write;
//Check value of xLinearRatio
- if(attr_isYCalibrated_write){
- if(tmpYRatio != 0){
+ if(attr_isYCalibrated_write)
+ {
+ if(tmpYRatio != 0)
+ {
//To apply last value of ratio, will also set calibrated state to true
_taskManager->i_setYAxisCalibrationState(true);
//Update read value
@@ -750,7 +790,8 @@ void ActuatorSystem::write_isYCalibrated(Tango::WAttribute &attr)
(const char *)"ActuatorSystem::write_isXCalibrated(Tango::WAttribute &attr)");
}
}
- else{
+ else
+ {
*attr_isYCalibrated_read = attr_isYCalibrated_write;
_taskManager->i_setYAxisCalibrationState(false);
}
@@ -823,11 +864,16 @@ void ActuatorSystem::write_yLinearRatio(Tango::WAttribute &attr)
void ActuatorSystem::stop_axes()
{
DEBUG_STREAM << "ActuatorSystem::stop_axes(): entering... !" << endl;
- if(_initDone){
- if (_taskManager){
- try{
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
+ try
+ {
_taskManager->i_stopAxes();
- }catch(Tango::DevFailed &df){
+ }
+ catch(Tango::DevFailed &df)
+ {
RETHROW_DEVFAILED(df,"","","");
}
}
@@ -848,16 +894,22 @@ void ActuatorSystem::stop_axes()
void ActuatorSystem::move_xaxis_relative(Tango::DevDouble argin)
{
DEBUG_STREAM << "ActuatorSystem::move_xaxis_relative(): entering... !" << endl;
- if(_initDone){
- if (_taskManager){
- if(argin != 0){
- try{
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
+ if(argin != 0)
+ {
+ try
+ {
set_state(Tango::MOVING);
set_status("Starting movement on x axis...");
double relativeMovement = argin;
_taskManager->i_moveXAxis(relativeMovement);
- }catch(Tango::DevFailed &df){
+ }
+ catch(Tango::DevFailed &df)
+ {
RETHROW_DEVFAILED(df,"","","");
}
}
@@ -870,7 +922,7 @@ void ActuatorSystem::move_xaxis_relative(Tango::DevDouble argin)
* method: ActuatorSystem::move_yaxis_relative
*
* description: method to execute "MoveYAxisRelative"
- * To move Y axis with a relative movement
+ * To move Y axis with a relative movement
*
* @param argin
*
@@ -879,16 +931,22 @@ void ActuatorSystem::move_xaxis_relative(Tango::DevDouble argin)
void ActuatorSystem::move_yaxis_relative(Tango::DevDouble argin)
{
DEBUG_STREAM << "ActuatorSystem::move_yaxis_relative(): entering... !" << endl;
- if(_initDone){
- if (_taskManager){
- if(argin != 0){
- try{
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
+ if(argin != 0)
+ {
+ try
+ {
set_state(Tango::MOVING);
set_status("Starting movement on y axis...");
double relativeMovement = argin;
_taskManager->i_moveYAxis(relativeMovement);
- }catch(Tango::DevFailed &df){
+ }
+ catch(Tango::DevFailed &df)
+ {
RETHROW_DEVFAILED(df,"","","");
}
}
@@ -901,7 +959,6 @@ void ActuatorSystem::move_yaxis_relative(Tango::DevDouble argin)
* method: ActuatorSystem::apply_relative_movement_on_axes
*
* description: method to execute "ApplyRelativeMovementOnAxes"
- * Argin[0] = movementOnXAxis;
* Argin[1] = movementOnYAxis
*
* @param argin
@@ -912,23 +969,29 @@ void ActuatorSystem::apply_relative_movement_on_axes(const Tango::DevVarDoubleAr
{
DEBUG_STREAM << "ActuatorSystem::apply_relative_movement_on_axes(): entering... !" << endl;
- if(_initDone){
- if (_taskManager){
+ if(_initDone)
+ {
+ if (_taskManager)
+ {
double xRelativeMovement;
double yRelativeMovement;
xRelativeMovement = (double)(*argin)[0];
yRelativeMovement = (double)(*argin)[1];
- if ((xRelativeMovement != 0) || (yRelativeMovement != 0)){
+ if ((xRelativeMovement != 0) || (yRelativeMovement != 0))
+ {
set_state(Tango::MOVING);
set_status("Applying pixel correction on axes");
- try{
+ try
+ {
double xRelativeMovementToSet = (double)(attr_xLinearRatio_write * xRelativeMovement);
double yRelativeMovementToSet = (double)(attr_yLinearRatio_write * yRelativeMovement);
_taskManager->i_moveAxes(xRelativeMovementToSet, yRelativeMovementToSet);
- }catch(Tango::DevFailed &df){
+ }
+ catch(Tango::DevFailed &df)
+ {
RETHROW_DEVFAILED(df,"","","");
}
}
@@ -943,7 +1006,8 @@ void ActuatorSystem::apply_relative_movement_on_axes(const Tango::DevVarDoubleAr
// description : To check if properties are ok...
//
//-----------------------------------------------------------------------------
-std::string ActuatorSystem::check_properties(){
+std::string ActuatorSystem::check_properties()
+{
if (yAxisMinPosition >= yAxisMaxPosition)
return "YAxisMinPosition can't be superior to YAxisMaxPosition";
if (xAxisMinPosition >= xAxisMaxPosition)
@@ -970,4 +1034,6 @@ std::string ActuatorSystem::check_properties(){
+
+
} // namespace
diff --git a/ActuatorSystem/src/ActuatorSystem.h b/ActuatorSystem/src/ActuatorSystem.h
old mode 100644
new mode 100755
index 59978c94c75c405e8553dcec37a8af25e54a1d6e..9f5f4cff4e8edf6c739bf1091ffaceec960aac30
--- a/ActuatorSystem/src/ActuatorSystem.h
+++ b/ActuatorSystem/src/ActuatorSystem.h
@@ -59,7 +59,7 @@ namespace ActuatorSystem_ns
/**
* Class Description:
- * This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y )
+ * This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y )
* in order to move beam centroid position.
*/
@@ -119,11 +119,13 @@ public :
*/
string xAxisPluginPath;
/**
- * X Axis plugin type
+ * X Axis plugin type.
+ * Available values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )
*/
string xAxisPluginType;
/**
- * Y Axis plugin type
+ * Y Axis plugin type.
+ * Available values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )
*/
string yAxisPluginType;
/**
@@ -379,14 +381,13 @@ public :
*/
void move_xaxis_relative(Tango::DevDouble);
/**
- * To move Y axis with a relative movement
+ * To move Y axis with a relative movement
* @param argin
* @exception DevFailed
*/
void move_yaxis_relative(Tango::DevDouble);
/**
- * Argin[0] = movementOnXAxis;
- * Argin[1] = movementOnYAxis
+ * Argin[1] = movementOnYAxis
* @param argin
* @exception DevFailed
*/
@@ -409,7 +410,7 @@ protected :
public :
- yat4tango::DynamicAttributeManager* _dynAttrManager;
+ yat4tango::DynamicAttributeManager* m_dyn_attr_manager;
private :
diff --git a/ActuatorSystem/src/ActuatorSystemClass.cpp b/ActuatorSystem/src/ActuatorSystemClass.cpp
index c2854a6c8d158b51656dafbc6bcfdd45fcf3f326..2de2080e4467308d2731a290e111b5fcd00d23cf 100644
--- a/ActuatorSystem/src/ActuatorSystemClass.cpp
+++ b/ActuatorSystem/src/ActuatorSystemClass.cpp
@@ -511,9 +511,10 @@ void ActuatorSystemClass::set_default_property()
add_wiz_dev_prop(prop_name, prop_desc);
prop_name = "XAxisPluginType";
- prop_desc = "X Axis plugin type";
- prop_def = "";
+ prop_desc = "X Axis plugin type.\nAvailable values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )";
+ prop_def = "StandardMotor";
vect_data.clear();
+ vect_data.push_back("StandardMotor");
if (prop_def.length()>0)
{
Tango::DbDatum data(prop_name);
@@ -525,9 +526,10 @@ void ActuatorSystemClass::set_default_property()
add_wiz_dev_prop(prop_name, prop_desc);
prop_name = "YAxisPluginType";
- prop_desc = "Y Axis plugin type";
- prop_def = "";
+ prop_desc = "Y Axis plugin type.\nAvailable values: StandardMotor ( Supports: GalilAxis, SimulatedMotor and PowerPMACAxis )";
+ prop_def = "StandardMotor";
vect_data.clear();
+ vect_data.push_back("StandardMotor");
if (prop_def.length()>0)
{
Tango::DbDatum data(prop_name);
@@ -582,8 +584,9 @@ void ActuatorSystemClass::set_default_property()
prop_name = "XAxisMaxPosition";
prop_desc = "Set maximum position of X axis, in axis position's unit...";
- prop_def = "";
+ prop_def = "1";
vect_data.clear();
+ vect_data.push_back("1");
if (prop_def.length()>0)
{
Tango::DbDatum data(prop_name);
@@ -596,8 +599,9 @@ void ActuatorSystemClass::set_default_property()
prop_name = "XAxisMinPosition";
prop_desc = "Set minimum position of X axis, in axis position's unit...";
- prop_def = "";
+ prop_def = "0";
vect_data.clear();
+ vect_data.push_back("0");
if (prop_def.length()>0)
{
Tango::DbDatum data(prop_name);
@@ -610,8 +614,9 @@ void ActuatorSystemClass::set_default_property()
prop_name = "YAxisMaxPosition";
prop_desc = "Set maximum position of Y axis, in axis position's unit...";
- prop_def = "";
+ prop_def = "1";
vect_data.clear();
+ vect_data.push_back("1");
if (prop_def.length()>0)
{
Tango::DbDatum data(prop_name);
@@ -624,8 +629,9 @@ void ActuatorSystemClass::set_default_property()
prop_name = "YAxisMinPosition";
prop_desc = "Set minimum position of Y axis, in axis position's unit...";
- prop_def = "";
+ prop_def = "0";
vect_data.clear();
+ vect_data.push_back("0");
if (prop_def.length()>0)
{
Tango::DbDatum data(prop_name);
@@ -638,8 +644,9 @@ void ActuatorSystemClass::set_default_property()
prop_name = "DeviceMode";
prop_desc = "Either NORMAL or SIMULATED;\nIn simulated mode, this device will only read state/status and positions from axes, it will not send any new positions....";
- prop_def = "";
+ prop_def = "SIMULATED";
vect_data.clear();
+ vect_data.push_back("SIMULATED");
if (prop_def.length()>0)
{
Tango::DbDatum data(prop_name);
@@ -679,7 +686,7 @@ void ActuatorSystemClass::write_class_property()
// Put Description
Tango::DbDatum description("Description");
vector<string> str_desc;
- str_desc.push_back("This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y ) ");
+ str_desc.push_back("This device should be used for BeamPositionTracking application only. This device's aim is to organize motors movements on two axes ( X and Y )");
str_desc.push_back("in order to move beam centroid position.");
description << str_desc;
data.push_back(description);
diff --git a/PluginInterfaces/include/ActuatorInterface.h b/PluginInterfaces/include/ActuatorInterface.h
old mode 100644
new mode 100755
index 298b3170479c39130bcf6643ee8a25ae128347fd..3d30a3b731c6505df29f18c50eafc6a908f0dbef
--- a/PluginInterfaces/include/ActuatorInterface.h
+++ b/PluginInterfaces/include/ActuatorInterface.h
@@ -29,25 +29,19 @@ class ActuatorInterface : public yat4tango::DevicePlugIn
Tango::DevState axisState;
};
- virtual void init(Tango::DeviceImpl * host_device, std::string deviceAdress)
- throw (Tango::DevFailed) = 0;
+ virtual void init(Tango::DeviceImpl * host_device, std::string deviceAdress) = 0;
//SETTER
- virtual void setAxisPosition(double position)
- throw (Tango::DevFailed) = 0;
+ virtual void setAxisPosition(double position) = 0;
- virtual void moveAxisRelative(double relativeMovement)
- throw (Tango::DevFailed) = 0;
+ virtual void moveAxisRelative(double relativeMovement) = 0;
- virtual void stopAxisMovement()
- throw (Tango::DevFailed) = 0;
+ virtual void stopAxisMovement() = 0;
//GETTER
- virtual double getAxisCurrentPosition()
- throw (Tango::DevFailed) = 0;
+ virtual double getAxisCurrentPosition() = 0;
- virtual std::string getAxisUnit()
- throw (Tango::DevFailed) = 0;
+ virtual std::string getAxisUnit() = 0;
// Plugin is supposed to return his state this way:
// - ON -> Device is ready to move
@@ -55,8 +49,7 @@ class ActuatorInterface : public yat4tango::DevicePlugIn
// - STANDBY - > Device is waiting for an action (in this state : init/Standby/off ...)
// - FAULT -> Device is not available (off)
- virtual AxisStateStatus getAxisStateStatus()
- throw (Tango::DevFailed) = 0;
+ virtual AxisStateStatus getAxisStateStatus() = 0;
};
} // namespace Actuator Interface
diff --git a/PluginInterfaces/pom.xml b/PluginInterfaces/pom.xml
old mode 100644
new mode 100755
index c8707fd365a88fedd5673a09544470f735c5efc8..afa5cb520e280174a6aef7f471d666a1565d0778
--- a/PluginInterfaces/pom.xml
+++ b/PluginInterfaces/pom.xml
@@ -4,7 +4,7 @@
<parent>
<groupId>fr.soleil.device</groupId>
<artifactId>ActuatorSystem</artifactId>
- <version>1.0.8-SNAPSHOT</version>
+ <version>1.1.0-SNAPSHOT</version>
</parent>
<groupId>fr.soleil.device.ActuatorSystem</groupId>
diff --git a/pom.xml b/pom.xml
old mode 100644
new mode 100755
index 24c83258b6c076a2b763da0a79046ae1689ec438..b7ac3d9e7fdb874599bb93b93c708483caa37134
--- a/pom.xml
+++ b/pom.xml
@@ -10,7 +10,7 @@
<groupId>fr.soleil.device</groupId>
<artifactId>ActuatorSystem</artifactId>
- <version>1.0.8-SNAPSHOT</version>
+ <version>1.1.0-SNAPSHOT</version>
<packaging>pom</packaging>