Bug Fix : Add AutoMutex m_lock_position

Bug Fix : If Translation And Rotation not requested, Don't send cmd because incremental_move is not initialized

pom.xml

@@ -9,7 +9,7 @@
 
     <groupId>fr.soleil.device</groupId>
     <artifactId>HexapodNewport-${aol}-${mode}</artifactId>
-    <version>1.2.1-SNAPSHOT</version>
+    <version>1.2.1</version>
 
     <packaging>nar</packaging>
 

src/task/HWProxy.cpp

@@ -335,6 +335,7 @@ void HWProxy::process_message(yat::Message& _msg) throw(Tango::DevFailed)
 			_msg.detach_data(pos);
 			if(pos)
 			{
+                yat::AutoMutex<> guard(m_lock_position);
 				//- update the internal setpoints m_positions_setp
 
 				std::stringstream cmd;
@@ -541,6 +542,7 @@ void HWProxy::set_hexapod_positions(positions_t pos, Config conf)
 	std::stringstream cmd;
 	if(m_conf.positioning_type == HWP_POSIT_ABSOLUTE)
 	{
+        yat::AutoMutex<> guard(m_lock_position);
 		INFO_STREAM << "HWProxy::set_hexapod_positions HWP_POSIT_ABSOLUTE" << std::endl;
 		//- update the internal setpoints m_positions_setp
 		cmd << "HexapodMoveAbsolute"
@@ -557,7 +559,7 @@ void HWProxy::set_hexapod_positions(positions_t pos, Config conf)
 			<< std::endl;
 	}
 	else
-	{
+	{   yat::AutoMutex<> guard(m_lock_position);
 		//- exception if request for ROTATION AND TRANSLATION
 		bool translation_request = false;
 		if(	(m_positions_setp [0] != pos.positions [0]) ||
@@ -605,11 +607,13 @@ void HWProxy::set_hexapod_positions(positions_t pos, Config conf)
 											"HWProxy::set_hexapod_positions");
 		}
 
-
+        if(translation_request || rotation_request)
+        {
             double incremental_move [6];
             
             if(translation_request)
             {
+                INFO_STREAM<<"translation_request = true"<<std::endl;
                 m_positions_setp [0] = pos.positions [0];
                 incremental_move [0] = pos.positions [0] - m_positions_read [0];
                 m_positions_setp [1] = pos.positions [1];
@@ -626,6 +630,7 @@ void HWProxy::set_hexapod_positions(positions_t pos, Config conf)
             
             if(rotation_request)
             {
+                INFO_STREAM<<"rotation_request = true"<<std::endl;
                 m_positions_setp [0] = pos.positions [0];
                 incremental_move [0] = 0.;
                 m_positions_setp [1] = pos.positions [1];
@@ -682,6 +687,7 @@ void HWProxy::set_hexapod_positions(positions_t pos, Config conf)
                     << std::fixed;
                     for(size_t i = index_first_virtual_axes;i < NB_VIRTUAL_AXES;i++)
                     {
+                        
                         cmd << "," << incremental_move [i];
                     }
                 cmd << ")"
@@ -725,7 +731,14 @@ void HWProxy::set_hexapod_positions(positions_t pos, Config conf)
                     << std::endl;			
             }
         }
+        else
+        {
+            INFO_STREAM<<"No translation or Rotation movement Requested !"<<std::endl;
+            return;
+        }
+	}
 	
+    INFO_STREAM<<"Cmd sent : "<<cmd.str()<<std::endl;
 	//write to the driver
 	write(cmd.str());
 }
@@ -736,6 +749,7 @@ void HWProxy::set_hexapod_positions(positions_t pos, Config conf)
 // ============================================================================
 double HWProxy::get_virtual_axis_position(VirtualAxisName n)
 {
+    yat::AutoMutex<> guard(m_lock_position);
 	return m_positions_read [n];
 }
 
@@ -759,6 +773,7 @@ bool HWProxy::read_positions()
 
 	if(write_read(cmd, response))
 	{
+        yat::AutoMutex<> guard(m_lock_position);
 		//- parse the response and put it in the array
 		//- response form 0,0.1789513061472,0.02960289503446,0.0603300456024,-0.02644901123962,0.0699330284329,-0.0001644046095955,EndOfAPI
 		//- response form cmd status,X,Y,Z,U,V,W,EndOfAPI

src/task/HWProxy.h

@@ -251,7 +251,7 @@ private:
     //- au cas ou....
     yat::Mutex m_lock_wr;
     yat::Mutex m_lock_w;
-
+    yat::Mutex m_lock_position;
     
     //- the periodic execution time
     size_t m_periodic_exec_ms;