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Commit 984ce189 authored by BAHJI's avatar BAHJI
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Update PIAxis state machine

parent 397fb014
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1 merge request!3[PIController] Add PIAxis commands and attributes
......@@ -54,6 +54,8 @@ std::string AxisController::get_model()
void AxisController::compute_state_status()
{
try
{
if(m_state != Tango::FAULT)
{
Serializer::pull_from_server(&m_on, m_axis_id);
if (m_on.get_value() == 1)
......@@ -65,7 +67,6 @@ void AxisController::compute_state_status()
{
set_state(Tango::MOVING);
set_status("Moving");
return;
}
}
else
......@@ -74,6 +75,7 @@ void AxisController::compute_state_status()
set_status("Motor off");
}
}
}
catch(Tango::DevFailed& df)
{
tango_error_handler(df);
......@@ -324,6 +326,7 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_ON_MSG:
{
//DEBUG_STREAM << "-> AxisController::TASK_CTRL_ON_MSG" << std::endl;
set_state(Tango::ON);
Serializer::push_to_server(&m_on, m_axis_id);
}
break;
......@@ -332,6 +335,7 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_OFF_MSG:
{
DEBUG_STREAM << "-> AxisController::TASK_CTRL_OFF_MSG" << std::endl;
set_state(Tango::OFF);
Serializer::push_to_server(&m_off, m_axis_id);
}
break;
......@@ -339,7 +343,6 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_MODEL_MSG:
{
//DEBUG_STREAM << "-> AxisController::TASK_CTRL_MODEL_MSG" << std::endl;
Serializer::pull_from_server(&m_model, m_axis_id);
}
break;
......@@ -348,6 +351,7 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_SETPOSITION_MSG:
{
DEBUG_STREAM << "-> AxisController::TASK_CTRL_SETPOSITION_MSG" << std::endl;
set_state(Tango::MOVING);
Serializer::push_to_server(&m_position, m_axis_id);
}
break;
......@@ -355,7 +359,6 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_GETPOSITION_MSG:
{
//DEBUG_STREAM << "-> AxisController::TASK_CTRL_GETPOSITION_MSG" << std::endl;
Serializer::pull_from_server(&m_position, m_axis_id);
}
break;
......@@ -371,7 +374,6 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_GETVELOCITY_MSG:
{
// DEBUG_STREAM << "-> AxisController::TASK_CTRL_GETVELOCITY_MSG" << std::endl;
Serializer::pull_from_server(&m_velocity, m_axis_id);
}
break;
......@@ -387,7 +389,6 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_GETACCELERATION_MSG:
{
//DEBUG_STREAM << "-> AxisController::TASK_CTRL_GETACCELERATION_MSG" << std::endl;
Serializer::pull_from_server(&m_acceleration, m_axis_id);
}
break;
......@@ -403,7 +404,6 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_GETDECELERATION_MSG:
{
//DEBUG_STREAM << "-> AxisController::TASK_CTRL_GETDECELERATION_MSG" << std::endl;
Serializer::pull_from_server(&m_deceleration, m_axis_id);
}
break;
......@@ -411,7 +411,6 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_NLIMIT_MSG:
{
// DEBUG_STREAM << "-> AxisController::TASK_CTRL_NLIMIT_MSG" << std::endl;
Serializer::pull_from_server(&m_limit_switch, m_axis_id);
}
break;
......@@ -419,7 +418,6 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_PLIMIT_MSG:
{
// DEBUG_STREAM << "-> AxisController::TASK_CTRL_PLIMIT_MSG" << std::endl;
Serializer::pull_from_server(&m_limit_switch, m_axis_id);
}
break;
......@@ -428,6 +426,7 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_STOP_MSG:
{
DEBUG_STREAM << "-> AxisController::TASK_CTRL_STOP_MSG" << std::endl;
set_state(Tango::OFF);
Serializer::push_to_server(&m_stop, m_axis_id);
}
break;
......@@ -436,6 +435,7 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_BACKWARD_MSG:
{
DEBUG_STREAM << "-> AxisController::TASK_CTRL_BACKWARD_MSG" << std::endl;
set_state(Tango::MOVING);
Serializer::push_to_server(&m_backward, m_axis_id);
}
break;
......@@ -444,6 +444,7 @@ void AxisController::process_message(yat::Message& msg)
case CTRL_FORWARD_MSG:
{
DEBUG_STREAM << "-> AxisController::TASK_CTRL_FORWARD_MSG" << std::endl;
set_state(Tango::MOVING);
Serializer::push_to_server(&m_forward, m_axis_id);
}
break;
......
......@@ -725,6 +725,7 @@ void PIAxis::forward()
try
{
INFO_STREAM << "PIAxis::forward() - m_model: " << m_axis_controller->get_model() << std::endl;
if(m_axis_controller->get_model() == "C-884" || m_axis_controller->get_model() == "SIMULATOR")
{
m_axis_controller->forward();
......
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