Management of the new command HexapodPositionCurrentGet instead of...

Management of the new command HexapodPositionCurrentGet instead of GroupPositionCurrentGet for hexapod with firmware version XPS-D.

.gitignore

@@ -10,3 +10,4 @@ test_package/*
 .cproject
 build
 CMakeUserPresets.json
+.vscode

src/task/HWProxy.cpp

@@ -173,6 +173,23 @@ void HWProxy::process_message(yat::Message& _msg) throw(Tango::DevFailed)
 			
 			m_name_current_cs = "Work";
 			m_group_state = -1;
+
+			//- Retreiving firmware version
+			std::string cmd_firmware_version = "FirmwareVersionGet(char *)";
+			std::string reply_firmware_version;
+			write_read(cmd_firmware_version, reply_firmware_version);
+			size_t pos_sep0 = reply_firmware_version.find(',');
+			if(pos_sep0!= std::string::npos)
+			{
+				//The answer should in the form "0,FIRMWARE_VERSION,EndofAPI"
+				size_t pos_sep1 = reply_firmware_version.find(',', pos_sep0+1);
+				if(pos_sep1!= std::string::npos)
+				{
+					m_firmware_version = reply_firmware_version.substr(pos_sep0+1, pos_sep1-pos_sep0-1);
+					INFO_STREAM << "Firmware version = " << m_firmware_version << std::endl;
+				}
+			}
+
 			read_positions();
 			read_hxp_state();
 			//- initilalze memorized values to something
@@ -770,6 +787,10 @@ bool HWProxy::read_positions()
 	//- commande : pour le groupe HEXAPOD de 6 axes virtuels XYZUVW 
 	//- GroupPositionCurrentGet (HEXAPOD, double *, double *, double *, double *, double *, double *)
 	std::string cmd = "GroupPositionCurrentGet(" + m_conf.group_name + ", double *, double *, double *, double *, double *, double *)";
+	if( m_firmware_version.find("XPS-D")!=std::string::npos)
+	{
+		cmd = "HexapodPositionCurrentGet(" + m_conf.group_name + ", double *, double *, double *, double *, double *, double *)";
+	}
 
 	if(write_read(cmd, response))
 	{

src/task/HWProxy.h

@@ -291,6 +291,8 @@ private:
     //- the current coordinate system used to write on the Hexapod
     std::string m_name_current_cs;
 
+    //- the firmware version of the hexapod
+    std::string m_firmware_version;
 } ;
 
 }//- namespace