diff --git a/doc/XPSTrajectory_user_manual.doc b/doc/XPSTrajectory_user_manual.doc
index fa3f08815acbce37a22ad229a7b01b56e22651e6..08dfe6a8aacf4c21f95c67ae4a1ce206945d442b 100755
Binary files a/doc/XPSTrajectory_user_manual.doc and b/doc/XPSTrajectory_user_manual.doc differ
diff --git a/pom.xml b/pom.xml
index 4892b7887cf1d9b624ba4528f53f58d090afdf01..4196e05892697652e28531ef35d7884bcf9b8ace 100644
--- a/pom.xml
+++ b/pom.xml
@@ -9,7 +9,7 @@
<groupId>fr.soleil.device</groupId>
<artifactId>XPSV2-${aol}-${mode}</artifactId>
- <version>1.3.10-SNAPSHOT</version>
+ <version>1.4.0-SNAPSHOT</version>
<packaging>nar</packaging>
@@ -29,6 +29,14 @@ This field 'name' will define the name of the application.
<plugin>
<groupId>org.freehep</groupId>
<artifactId>freehep-nar-plugin</artifactId>
+ <configuration>
+ <os>Linux</os>
+ <cpp>
+ <options>
+ <option>-DTU_TRAJECTORY_TESTS</option>
+ </options>
+ </cpp>
+ </configuration>
</plugin>
</plugins>
</build>
diff --git a/src/XPSAxis.cpp b/src/XPSAxis.cpp
index 30bbdfff82a2af0475bed86cafba5a4c47b6dc55..dcedda80ea505deebfe0335eb7ec6ee53a090e76 100644
--- a/src/XPSAxis.cpp
+++ b/src/XPSAxis.cpp
@@ -1117,8 +1117,7 @@ void XPSAxis::write_backlashEnabled(Tango::WAttribute &attr)
//-----------------------------------------------------------------------------
void XPSAxis::Update ()
{
-//#define TU_TRAJECTORY_TESTS
-//#ifndef TU_TRAJECTORY_TESTS
+#ifndef TU_TRAJECTORY_TESTS
double offs = positioner->get_offset ();
yat4tango::PropertyHelper::set_memorized_attribute(this, "offset", static_cast<double>(offs));
@@ -1139,7 +1138,7 @@ void XPSAxis::write_backlashEnabled(Tango::WAttribute &attr)
yat4tango::PropertyHelper::set_memorized_attribute(this, "velocity", static_cast<double>(vel));
return;
-//#endif
+#endif
}
diff --git a/src/XPSLib/Group.cpp b/src/XPSLib/Group.cpp
index b50819b03451b50360f6897c561ff6c8f1b6d9f3..7afa6393e0caae37d1f1c6ad29f64b294ec387b4 100644
--- a/src/XPSLib/Group.cpp
+++ b/src/XPSLib/Group.cpp
@@ -102,8 +102,10 @@ namespace xps_ns
try
{
// //std::cout << "Group::initialize Socket Pool\n";
+ #ifndef TU_TRAJECTORY_TESTS
SocketPool::instance ();
SocketPool::instance()->initialize (ip_conf);
+#endif
}
catch (Tango::DevFailed &e)
{
@@ -189,6 +191,9 @@ namespace xps_ns
{
//- creation of the Trajectory
trajectory = new Trajectory (traj_conf);
+#ifndef TU_TRAJECTORY_TESTS
+internal_state = Group::SW_INITIALIZED;
+#endif
}
catch (Tango::DevFailed &e)
{
@@ -232,7 +237,9 @@ namespace xps_ns
//std::cout << "Group::sw_run try to <sw_run> Socket Pool\n";
try
{
+#ifndef TU_TRAJECTORY_TESTS
SocketPool::instance()->sw_run ();
+#endif
}
catch (Tango::DevFailed &e)
{
@@ -281,7 +288,9 @@ namespace xps_ns
//- start the periodic thread
try
{
+#ifndef TU_TRAJECTORY_TESTS
PeriodicTask::instance ()->sw_run ();
+#endif
}
catch (...)
{
@@ -293,9 +302,10 @@ namespace xps_ns
}
internal_state = Group::SW_CONFIGURED;
-
+#ifndef TU_TRAJECTORY_TESTS
//- initialize setpoints with current positions
this->hw_get_positions ();
+#endif
//
for (size_t i = 0; i < this->conf.positioner_names.size(); i++)
{
@@ -334,8 +344,9 @@ namespace xps_ns
//- force the copy of READ part of positions in WRITE part
this->previous_group_state = GRP_MOVING;
-
+#ifndef TU_TRAJECTORY_TESTS
this->hw_get_xps_setpoints ();
+#endif
for (size_t i = 0; i < this->conf.positioner_names.size (); i++)
tango_setpoints_internal [i].sp = positioners.at (i)->get_xps_setpoint () + positioners.at (i)->get_offset ();
@@ -923,6 +934,7 @@ namespace xps_ns
// ============================================================================
void Group::hw_get_xps_setpoints (void)
{
+#ifndef TU_TRAJECTORY_TESTS
//- //std::cout << "Group::hw_get_setpoints" << std::endl;
if (internal_state != SW_CONFIGURED)
return;
@@ -953,6 +965,7 @@ namespace xps_ns
for (size_t i = 0; i < this->conf.positioner_names.size(); i++)
positioners.at (i)->set_xps_setpoint (yat::IEEE_NAN);
}
+#endif
}
// ============================================================================
@@ -963,7 +976,7 @@ namespace xps_ns
//- //std::cout << "Group::hw_get_group_status " << std::endl;
if (internal_state != SW_CONFIGURED)
return;
-
+#ifndef TU_TRAJECTORY_TESTS
try
{
int s_n_b = SocketPool::instance()->get_non_blocking_socket();
@@ -986,6 +999,7 @@ namespace xps_ns
// No valid state from HW
xps_group_state = UNKNOWN_XPS_GROUP_STATE;
}
+#endif
}
// ============================================================================
// Group::hw_get_positions
@@ -997,7 +1011,7 @@ namespace xps_ns
//std::cerr << "Group::hw_get_positions internal_state is < " << class_states_str [this->internal_state] << ">\n";
return;
}
-
+#ifndef TU_TRAJECTORY_TESTS
try
{
// Get data from Hardware
@@ -1024,7 +1038,7 @@ namespace xps_ns
for (size_t i = 0; i < this->conf.positioner_names.size(); i++)
positioners.at (i)->set_read_position (yat::IEEE_NAN);
}
-
+#endif
}
// ============================================================================
diff --git a/src/XPSLib/Positioner.cpp b/src/XPSLib/Positioner.cpp
index 1af1a3c45d4c7be77d5d8c0b4a8a0b4b42cf3afd..d3c980c6f47c057834d1c4c60b2226781d4dfb7c 100644
--- a/src/XPSLib/Positioner.cpp
+++ b/src/XPSLib/Positioner.cpp
@@ -103,6 +103,7 @@ namespace xps_ns
//- get max acceleration, max velocity
//std::cout << "Positioner::sw_run try to get vel, accel\n";
+#ifndef TU_TRAJECTORY_TESTS
this->refresh_gamma_parameters();
//- get positioner soft limits
@@ -113,6 +114,7 @@ namespace xps_ns
//- only a few axes have triggers configured so do not check errors on trigger configuration
//std::cout << "Positioner::sw_run try to get trigger parameters\n";
this->get_trigger_parameters ();
+#endif
}
// ============================================================================
@@ -425,9 +427,9 @@ namespace xps_ns
limits.tango.max = limits.tango.max + (offset - previous_offset);
// Notify all our observers
-
- this->Notify ();
-
+#ifndef TU_TRAJECTORY_TESTS
+ this->Notify ();
+#endif
}
//-------------------------------------------
//- Positioner::set_velocity
@@ -720,6 +722,7 @@ namespace xps_ns
// ============================================================================
void Positioner::throw_on_error (std::string origin, int return_code)
{
+#ifndef TU_TRAJECTORY_TESTS
//- //std::cout << "Positioner::throw_on_error <-" << std::endl;
if (return_code == 0)
return;
@@ -738,6 +741,7 @@ namespace xps_ns
THROW_DEVFAILED("COMMAND_ERROR",
ret_code_string,
origin.c_str ());
+#endif
}
//- TANGODEVIC-57:
diff --git a/src/XPSLib/SocketPool.cpp b/src/XPSLib/SocketPool.cpp
index 2facca7333f40c4a78593447f0d4aa788880966e..bfd5d5cfabed470c6152bede3797e15a63569be1 100644
--- a/src/XPSLib/SocketPool.cpp
+++ b/src/XPSLib/SocketPool.cpp
@@ -386,6 +386,7 @@ int SocketPool::get_blocking_socket()
//----------------------------------------
int SocketPool::get_non_blocking_socket()
{
+#ifndef TU_TRAJECTORY_TESTS
int socketItem_with_comm_error = -1;
yat::AutoMutex <yat::Mutex> guard (this->non_block_sock_mutex);
@@ -421,6 +422,7 @@ int SocketPool::get_non_blocking_socket()
THROW_DEVFAILED ("OPERATION_NOT_ALLOWED",
"All <<Non Blocking Sockets>> (used for non blocking commands) are used",
"SocketPool::get_non_blocking_socket()");
+#endif
}
@@ -429,6 +431,7 @@ int SocketPool::get_non_blocking_socket()
//-----------------------------------------------
void SocketPool::SendAndReceive(int socketID, char sSendString[], char sReturnString[], int iReturnStringSize)
{
+#ifndef TU_TRAJECTORY_TESTS
if (socketID < SOCK_BLOCK_MIN_NUMBER || socketID > SOCK_NONBLOCK_MAX_NUMBER)
{
//std::cerr << "SocketPool::SendAndReceive SOFTWARE_FAILURE socket number out of range [call software support]" << std::endl;
@@ -464,6 +467,7 @@ void SocketPool::SendAndReceive(int socketID, char sSendString[], char sReturnSt
_CPTC("xps_ns::SocketPool::SendAndReceive - MAX_COM_RETRY is reached."),
_CPTC("xps_ns::SocketPool::SendAndReceive"));
}
+#endif
}
//------------------------------------------------
diff --git a/src/XPSLib/Trajectory.cpp b/src/XPSLib/Trajectory.cpp
index 4feaaee37ecc88ec6087962f205f8f9830912d29..e503bb0b2f9394d6ed6a16306e4eeae3881e4420 100644
--- a/src/XPSLib/Trajectory.cpp
+++ b/src/XPSLib/Trajectory.cpp
@@ -77,7 +77,9 @@ namespace xps_ns
//- retreive positioner infos : group name, positioner name, soft limits,...
try
{
+#ifndef TU_TRAJECTORY_TESTS
this->get_positioners_infos ();
+#endif
class_state = SW_CONFIGURED;
}
catch (...)
@@ -365,7 +367,9 @@ namespace xps_ns
else if (traj_state == TRAJ_RUNNING_TRAJ)
traj_state = TRAJ_DONE;
}
-
+#ifdef TU_TRAJECTORY_TESTS
+ traj_state = TRAJ_CHECK_OK;
+#endif
return traj_state;
}
@@ -450,7 +454,7 @@ namespace xps_ns
void Trajectory::throw_on_error (std::string origin, int return_code)
{
//std::cout << "Trajectory::throw_on_error <-" << std::endl;
-
+ #ifndef TU_TRAJECTORY_TESTS
if (return_code == 0)
return;
@@ -465,6 +469,7 @@ namespace xps_ns
THROW_DEVFAILED("COMMAND_ERROR",
ret_code_string,
origin.c_str ());
+#endif
}
@@ -522,10 +527,10 @@ namespace xps_ns
this->traj_type = TRAJ_ABSOLUTE_POS;
this->check_pvt_input (dim_x, dim_y, pvt);
-
+#ifndef TU_TRAJECTORY_TESTS
//- OK? clear the XPS and internal buffers
this->clear ();
-
+#endif
this->initialize_member_variables (dim_y);
@@ -587,19 +592,20 @@ namespace xps_ns
this->fill_relative_times_vector (pre_time_max, post_time_max, dim_y);
this->fill_positions_vector (pre_time_max, post_time_max);
-
+#ifndef TU_TRAJECTORY_TESTS
//- check absolute trajectory and the absolute start and stop positions after they have been computed
this->check_abs_traj_for_user_limits ();
-
+#endif
this->display_trajectory ();
//- OKAYYYYY cool man
traj_state = TRAJ_INPUT_PROCESSED;
-
+#ifndef TU_TRAJECTORY_TESTS
//- upload the trajectory
this->trajectory_upload ();
//- request XPS to check the trajectory for possible errors
this->check ();
+#endif
//- go to origin
// this->go_to_origin ();
}
@@ -626,10 +632,10 @@ namespace xps_ns
this->check_abs_pt_input (dim_x, dim_y, pt);
//- la trajectoire est fournie en points "utiles" cad en mouvement
-
+#ifndef TU_TRAJECTORY_TESTS
//- OK? clear the XPS and internal buffers
this->clear ();
-
+#endif
this->initialize_member_variables (dim_y);
//- spécifique PT (l'image en entrée contient temps, et positions)
@@ -709,10 +715,10 @@ namespace xps_ns
this->fill_relative_times_vector (pre_time_max, post_time_max, dim_y);
this->fill_positions_vector (pre_time_max, post_time_max);
-
+#ifndef TU_TRAJECTORY_TESTS
//- check absolute trajectory and the absolute start and stop positions after they have been computed
this->check_abs_traj_for_user_limits ();
-
+#endif
//- Specific to load_abs_pt : compute the velocities
double T0 = 0.;
@@ -757,9 +763,11 @@ namespace xps_ns
//- OKAYYYYY cool man
traj_state = TRAJ_INPUT_PROCESSED;
+#ifndef TU_TRAJECTORY_TESTS
//- upload the trajectory
this->trajectory_upload ();
+#endif
//- request XPS to check the trajectory for possible errors
//this->check ();
// TODO remettre l'envoi en position initiale?
@@ -1027,29 +1035,32 @@ namespace xps_ns
void Trajectory::display_trajectory (void)
{
//- afficher point départ/arrivée absolus
+#ifdef TU_TRAJECTORY_TESTS
+
for (size_t i = 0; i < positioners_infos.size (); i++)
{
- /*
- std::cout << "Trajectory::load_abs_pt positioner <"
+
+ std::cout << "Trajectory::display_trajectory <"
<< positioners_infos [i].group_name << "." << positioners_infos [i].positioner_name
<< " first point abs. coord. <" << positioners_infos [i].start_pos_abs
<< " last point abs. coord. <" << positioners_infos [i].end_pos_abs
<< ">" << std::endl;
- */
+
}
//- Afficher la trajectoire (temps/positions relatives) complete
//std::cout << "DEBUG: Trajectory::display_relative_trajectory : display the relative trajectory\n";
for (size_t i = 0; i < traj_times_rel.size (); i++)
{
- //std::cout << "[dT<" << traj_times_rel [i] << ">; ";
+ std::cout << "[dT<" << traj_times_rel [i] << ">; ";
for (size_t j = 0; j < positioners_infos.size (); j++)
{
- //std::cout << "dP[" << j << "]<" << positioners_infos [j].rel_pos [i] << ">;";
- //std::cout << " V[" << j << "]" <<positioners_infos [j].vel [i] << ">; ";
+ std::cout << "dP[" << j << "]<" << positioners_infos [j].rel_pos [i] << ">;";
+ std::cout << " V[" << j << "]" <<positioners_infos [j].vel [i] << ">; ";
}
- //std::cout << "]" << std::endl;
+ std::cout << "]" << std::endl;
}
+#endif
return;
}
// =============================================================================================================
@@ -1075,12 +1086,12 @@ namespace xps_ns
//- throws exception if something was wrong in argins or class state, do not catch it
this->traj_type = TRAJ_ABSOLUTE_POS;
- //- check dim_x, dim_y and pvt size integrity
- this->check_pvt_input (dim_x, dim_y, pt);
-// #ifndef TU_TRAJECTORY_TESTS
+ //- check dim_x, dim_y and pt size integrity
+ this->check_abs_pt_input (dim_x, dim_y, pt);
+#ifndef TU_TRAJECTORY_TESTS
//- OK? clear the XPS and internal buffers
this->clear ();
-// #endif
+#endif
//- intialize the members avariables for new py algorithm
this->initialize_sixs_py_algorithm_member_variables (dim_y);
@@ -1193,13 +1204,13 @@ namespace xps_ns
//-
traj_state = TRAJ_INPUT_PROCESSED;
-// #ifndef TU_TRAJECTORY_TESTS
+#ifndef TU_TRAJECTORY_TESTS
//- upload the trajectory to XPS controller
this->trajectory_upload ();
//- request XPS controller to check the trajectory for possible errors
this->check ();
-// #endif
+#endif
}
// ============================================================================
@@ -1246,9 +1257,9 @@ namespace xps_ns
//- Check all positions of the trajectory are among user limits
for (size_t i = 0; i < positioners_infos.size (); i++)
{
-// #ifdef TU_TRAJECTORY_TESTS
+#ifdef TU_TRAJECTORY_TESTS
std::cout<<"positioner<"<<i<<"> Limits ["<<positioners_infos [i].soft_limit_min<<", "<<positioners_infos [i].soft_limit_max<<"]"<<endl;
-// #endif
+#endif
//- All others positions in the trajectory
@@ -1269,9 +1280,9 @@ std::cout<<"positioner<"<<i<<"> Limits ["<<positioners_infos [i].soft_limit_
s.str ().c_str (),
"Trajectory::check_sixs_py_algorithm_abs_traj_for_user_limits");
}
- // #ifdef TU_TRAJECTORY_TESTS
+ #ifdef TU_TRAJECTORY_TESTS
std::cout<<" abs <"<<positioners_infos [i].abs_pos [j]<<"> "<<endl;
- // #endif
+ #endif
} //- end for all abs points
} //- end check soft limits
}
@@ -1313,7 +1324,7 @@ std::cout<<"positioner<"<<i<<"> Limits ["<<positioners_infos [i].soft_limit_
//- afficher point départ/arrivée absolus
for (size_t i = 0; i < positioners_infos.size (); i++)
{
- std::cout << "Trajectory::load_abs_pt positioner <"
+ std::cout << "Trajectory::display_sixs_py_algorithm_trajectory <"
<< positioners_infos [i].group_name << "." << positioners_infos [i].positioner_name
<< " first point abs. coord. <" << positioners_infos [i].abs_pos[0]
<< "> last point abs. coord. <" << positioners_infos [i].abs_pos[dim_y + 1]
diff --git a/src/XPSTrajectory.cpp b/src/XPSTrajectory.cpp
index 58a695e0dbb322481eaf7c1b4740d064351c4dce..47ffe70854b74111a7006ebbd3ade0ee50be9dd7 100644
--- a/src/XPSTrajectory.cpp
+++ b/src/XPSTrajectory.cpp
@@ -292,6 +292,7 @@ void XPSTrajectory::write_pvt(Tango::WAttribute &attr)
<< " longueur ligne (dim_x) " << dim_x
<< " nb lignes (dim_y) " << dim_y << std::endl;
*/
+ positions.clear();
for (size_t i = 0; i < size; i ++)
positions.push_back (p[i]);