Replaced corrupted XPSAxis.h

pom.xml

@@ -9,7 +9,7 @@
 
     <groupId>fr.soleil.device</groupId>
     <artifactId>XPSV2-${aol}-${mode}</artifactId>
-    <version>1.3.7</version>
+    <version>1.3.8</version>
 
     <packaging>nar</packaging>
 

src/XPSAxis.h

+//=============================================================================
+//
+// file :        XPSAxis.h
+//
+// description : Include for the XPSAxis class.
+//
+// project :	XPSAxis
+//
+// $Author:  $
+//
+// $Revision:  $
+// $Date:  $
+//
+// SVN only:
+// $HeadURL: $
+//
+// CVS only:
+// $Source:  $
+// $Log:  $
+//
+// copyleft :    Synchrotron SOLEIL 
+//               L'Orme des merisiers - Saint Aubin
+//     BP48 - 91192 Gif sur Yvette
+//               FRANCE
+//
+//=============================================================================
+//
+//      This file is generated by POGO
+//  (Program Obviously used to Generate tango Object)
+//
+//         (c) - Software Engineering Group - ESRF
+//=============================================================================
+#ifndef _XPSAXIS_H
+#define _XPSAXIS_H
+
+#include <tango.h>
+#include "XPSLib/Positioner.h"
+#include "XPSLib/Observer.h"
+#include <yat4tango/CommonHeader.h>
+#include <yat4tango/ExceptionHelper.h>
+
+//using namespace Tango;
+
+/**
+ * @author $Author:  $
+ * @version  $Revision:  $
+ */
+
+//  Add your own constant definitions here.
+//-----------------------------------------------
+
+
+namespace XPSAxis_ns
+{
+
+  /**
+  * Class Description:
+   * Pure virtual Class for Axis family
+ */
+
+/*
+ *	Device States Description:
+*  Tango::STANDBY :  axis iddle, ready
+*  Tango::MOVING :   axis moving
+*  Tango::ALARM :    non-bloquing fault axis can move
+*  Tango::FAULT :    bloquing fault, axis cannot move
+*  Tango::OFF :      power unit off
+*  Tango::UNKNOWN :  communication broken with controller
+ */
+
+
+	class XPSAxis: public Tango::Device_4Impl, public xps_ns::Observer
+	{
+	public :
+		//	Add your own data members here
+		//-----------------------------------------
+
+
+		//	Here is the Start of the automatic code generation part
+		//-------------------------------------------------------------	
+		/**
+		*	@name attributes
+		*	Attribute member data.
+		*/
+		//@{
+		Tango::DevDouble	*attr_position_read;
+		Tango::DevDouble	attr_position_write;
+		Tango::DevDouble	*attr_acceleration_read;
+		Tango::DevDouble	attr_acceleration_write;
+		Tango::DevDouble	*attr_deceleration_read;
+		Tango::DevDouble	attr_deceleration_write;
+		Tango::DevDouble	*attr_velocity_read;
+		Tango::DevDouble	attr_velocity_write;
+		Tango::DevDouble	*attr_accuracy_read;
+		Tango::DevDouble	attr_accuracy_write;
+		Tango::DevDouble	*attr_offset_read;
+		Tango::DevDouble	attr_offset_write;
+		Tango::DevDouble	attr_relativeMove_write;
+		Tango::DevDouble	*attr_xpsSetpoint_read;
+		Tango::DevDouble	*attr_softLimitMin_read;
+		Tango::DevDouble	attr_softLimitMin_write;
+		Tango::DevDouble	*attr_softLimitMax_read;
+		Tango::DevDouble	attr_softLimitMax_write;
+		Tango::DevBoolean	*attr_isTriggerActive_read;
+		Tango::DevBoolean	*attr_backlashEnabled_read;
+		Tango::DevBoolean	attr_backlashEnabled_write;
+//@}
+
+		/**
+		* @name Device properties
+		* Device properties member data.
+		*/
+		//@{
+/**
+ *	nom de l'axe
+ */
+	string	axisName;
+/**
+ *	When a movement is started , the device statys in MOVING state during forcestateMovingTimeAxis milliseconds whatever the real state is .
+ *	In fact the state information returned by XPS can be not very reliable depending on axis configuration (tuning of setlling time parameters for example)
+ */
+	Tango::DevDouble	forceStateMovingTimeAxis;
+//@}
+
+		/**
+		*	@name Device properties
+		*	Device property member data.
+		*/
+		//@{
+		//@}
+
+		/**@name Constructors
+		* Miscellaneous constructors */
+		//@{
+		/**
+		* Constructs a newly allocated Command object.
+		*
+		*	@param cl	Class.
+		*	@param s 	Device Name
+		*/
+		XPSAxis(Tango::DeviceClass *cl,string &s);
+		/**
+		* Constructs a newly allocated Command object.
+		*
+		*	@param cl	Class.
+		*	@param s 	Device Name
+		*/
+		XPSAxis(Tango::DeviceClass *cl,const char *s);
+		/**
+		* Constructs a newly allocated Command object.
+		*
+		*	@param cl	Class.
+		*	@param s 	Device name
+		*	@param d	Device description.
+		*/
+		XPSAxis(Tango::DeviceClass *cl,const char *s,const char *d);
+		//@}
+
+		/**@name Destructor
+		* Only one destructor is defined for this class */
+		//@{
+		/**
+		* The object destructor.
+		*/	
+		~XPSAxis() {delete_device();};
+		/**
+		*	will be called at device destruction or at init command.
+		*/
+		void delete_device();
+		//@}
+
+
+		/**@name Miscellaneous methods */
+		//@{
+		/**
+		*	Initialize the device
+		*/
+		virtual void init_device();
+		/**
+		*	Always executed method before execution command method.
+		*/
+		virtual void always_executed_hook();
+
+//@}
+
+/**
+ * @name XPSAxis methods prototypes
+ */
+
+//@{
+/**
+ *	Hardware acquisition for attributes.
+ */
+	virtual void read_attr_hardware(vector<long> &attr_list);
+/**
+ *	Extract real attribute values for position acquisition result.
+ */
+	virtual void read_position(Tango::Attribute &attr);
+/**
+ *	Write position attribute values to hardware.
+ */
+	virtual void write_position(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for acceleration acquisition result.
+ */
+	virtual void read_acceleration(Tango::Attribute &attr);
+/**
+ *	Write acceleration attribute values to hardware.
+ */
+	virtual void write_acceleration(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for deceleration acquisition result.
+ */
+	virtual void read_deceleration(Tango::Attribute &attr);
+/**
+ *	Write deceleration attribute values to hardware.
+ */
+	virtual void write_deceleration(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for velocity acquisition result.
+ */
+	virtual void read_velocity(Tango::Attribute &attr);
+/**
+ *	Write velocity attribute values to hardware.
+ */
+	virtual void write_velocity(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for accuracy acquisition result.
+ */
+	virtual void read_accuracy(Tango::Attribute &attr);
+/**
+ *	Write accuracy attribute values to hardware.
+ */
+	virtual void write_accuracy(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for offset acquisition result.
+ */
+	virtual void read_offset(Tango::Attribute &attr);
+/**
+ *	Write offset attribute values to hardware.
+ */
+	virtual void write_offset(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for relativeMove acquisition result.
+ */
+	virtual void read_relativeMove(Tango::Attribute &attr);
+/**
+ *	Write relativeMove attribute values to hardware.
+ */
+	virtual void write_relativeMove(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for xpsSetpoint acquisition result.
+ */
+	virtual void read_xpsSetpoint(Tango::Attribute &attr);
+/**
+ *	Extract real attribute values for softLimitMin acquisition result.
+ */
+	virtual void read_softLimitMin(Tango::Attribute &attr);
+/**
+ *	Write softLimitMin attribute values to hardware.
+ */
+	virtual void write_softLimitMin(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for softLimitMax acquisition result.
+ */
+	virtual void read_softLimitMax(Tango::Attribute &attr);
+/**
+ *	Write softLimitMax attribute values to hardware.
+ */
+	virtual void write_softLimitMax(Tango::WAttribute &attr);
+/**
+ *	Extract real attribute values for isTriggerActive acquisition result.
+ */
+	virtual void read_isTriggerActive(Tango::Attribute &attr);
+/**
+ *	Extract real attribute values for backlashEnabled acquisition result.
+ */
+	virtual void read_backlashEnabled(Tango::Attribute &attr);
+/**
+ *	Write backlashEnabled attribute values to hardware.
+ */
+	virtual void write_backlashEnabled(Tango::WAttribute &attr);
+/**
+ *	Read/Write allowed for position attribute.
+ */
+	virtual bool is_position_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for acceleration attribute.
+ */
+	virtual bool is_acceleration_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for deceleration attribute.
+ */
+	virtual bool is_deceleration_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for velocity attribute.
+ */
+	virtual bool is_velocity_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for accuracy attribute.
+ */
+	virtual bool is_accuracy_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for offset attribute.
+ */
+	virtual bool is_offset_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for relativeMove attribute.
+ */
+	virtual bool is_relativeMove_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for xpsSetpoint attribute.
+ */
+	virtual bool is_xpsSetpoint_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for softLimitMin attribute.
+ */
+	virtual bool is_softLimitMin_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for softLimitMax attribute.
+ */
+	virtual bool is_softLimitMax_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for isTriggerActive attribute.
+ */
+	virtual bool is_isTriggerActive_allowed(Tango::AttReqType type);
+/**
+ *	Read/Write allowed for backlashEnabled attribute.
+ */
+	virtual bool is_backlashEnabled_allowed(Tango::AttReqType type);
+/**
+ *	Execution allowed for Stop command.
+ */
+	virtual bool is_Stop_allowed(const CORBA::Any &any);
+/**
+ *	Execution allowed for ComputeNewOffset command.
+ */
+	virtual bool is_ComputeNewOffset_allowed(const CORBA::Any &any);
+/**
+ *	Execution allowed for GetFirmwareRevision command.
+ */
+	virtual bool is_GetFirmwareRevision_allowed(const CORBA::Any &any);
+/**
+ *	Execution allowed for TriggerEnable command.
+ */
+	virtual bool is_TriggerEnable_allowed(const CORBA::Any &any);
+/**
+ *	Execution allowed for TriggerDisable command.
+ */
+	virtual bool is_TriggerDisable_allowed(const CORBA::Any &any);
+/**
+ *	Execution allowed for TriggerParameters command.
+ */
+	virtual bool is_TriggerParameters_allowed(const CORBA::Any &any);
+/**
+ * This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
+ *	@return	State Code
+ *	@exception DevFailed
+ */
+	virtual Tango::DevState	dev_state();
+/**
+ * This command gets the device status (stored in its <i>device_status</i> data member) and returns it to the caller.
+ *	@return	Status description
+ *	@exception DevFailed
+ */
+	virtual Tango::ConstDevString	dev_status();
+/**
+ * 
+ *	@exception DevFailed
+ */
+	void	stop();
+/**
+ * the so smart program computes the offset to goal the user position
+ *	@param	argin	the new user position 
+ *	@exception DevFailed
+ */
+	void	compute_new_offset(Tango::DevDouble);
+/**
+ * Returns the firmware revision.
+ *	@return	The firmware revision
+ *	@exception DevFailed
+ */
+	Tango::DevString	get_firmware_revision();
+/**
+ * Enables Trigger
+ *	@exception DevFailed
+ */
+	void	trigger_enable();
+/**
+ * Disables Trigger
+ *	@exception DevFailed
+ */
+	void	trigger_disable();
+/**
+ * pulseWidth must be in [0.2|1|2.5|10] (0.2 is default)
+ *	Encoder SettlingTime must be in [0.075|1|4|12] (0.075 is default)
+ *	@param	argin	Pos Debut,Pos Fin, Step, PulseWidh in [0.2|1|2.5|10] , SettlingTime in [0.075|1|4|12]
+ *	@exception DevFailed
+ */
+	void	trigger_parameters(const Tango::DevVarDoubleArray *);
+
+/**
+ *	Read the device properties from database
+ */
+	 void get_device_property();
+//@}
+
+		//	Here is the end of the automatic code generation part
+		//-------------------------------------------------------------	
+
+
+
+	protected :	
+		//	Add your own data members here
+		//-----------------------------------------
+		xps_ns::Positioner * positioner;
+
+		bool properties_missing;
+		bool init_device_done;
+
+		std::string status_str;
+//		void get_attr_position_min_max_props (double & min, double & max);
+
+		// description :  surcharge methode virtuelle pure Observer
+		void Update (void);
+
+		// writes back the write part of attribute
+		template<class T> void write_wattribute(Tango::DevString attribute_name, T value)
+		{
+			Tango::WAttribute &att = dev_attr->get_w_attr_by_name(attribute_name);
+			att.set_write_value(value);
+		} 
+		
+		//- TANGODEVIC-57:
+		//--------------------------------
+		bool m_backlashEnabled;
+		
+		
+		//- get stored value in Device property
+		template <class T>
+		T get_value_as_property(Tango::DeviceImpl* dev_p, const std::string& property_name)
+			throw (Tango::DevFailed)
+		{
+			if (!Tango::Util::instance()->_UseDb)
+			{
+				THROW_DEVFAILED(_CPTC("DEVICE_ERROR"), 
+					_CPTC("NO DB"),
+					_CPTC("XPSAxis::get_value_as_property")); 
+			} 
+
+			T value;
+			Tango::DbData	dev_prop;
+			dev_prop.push_back(Tango::DbDatum(property_name));
+
+			//-	Call database and extract values
+			//--------------------------------------------
+			try
+			{
+				dev_p->get_db_device()->get_property(dev_prop);
+			}
+			catch (Tango::DevFailed &df)
+			{
+				std::string message = "Error in reading " + property_name + " in Configuration DataBase.";
+				ERROR_STREAM << df << endl;
+				RETHROW_DEVFAILED(df,	_CPTC("DEVICE_ERROR"), 
+					  _CPTC(std::string(df.errors[0].desc).c_str()), 
+					  _CPTC("XPSAxis::get_value_as_property")); 
+			}
+
+			//-	Try to extract saved property from database
+			if (dev_prop[0].is_empty()==false)
+			{
+				dev_prop[0] >> value;
+			}
+			else
+			{
+			  // no value stored in data base
+				THROW_DEVFAILED(_CPTC("DEVICE_ERROR"), 
+					_CPTC("No value in database"), 
+					_CPTC("XPSAxis::get_value_as_property")); 
+			}
+
+			return value;
+		}	
+        
+	};
+
+}	// namespace_ns
+
+#endif	// _XPSAXIS_H