amelioration de la gestion des etats de trajectoire

src/task/HWProxy.cpp

@@ -436,10 +436,12 @@ INFO_STREAM << "HWProxy::handle_message::GROUP_DEFINE_POSITION cmd " << cmd << "
     case TRAJECTORY_GOTO_ORIGIN:
       {
         DEBUG_STREAM << "HWProxy::handle_message handling TRAJECTORY_GOTO_ORIGIN msg" << std::endl;
-        if (trajectory_stuff.state == TRAJ_LOADED)
+        if (trajectory_stuff.state == TRAJ_LOADED || 
+            trajectory_stuff.state == TRAJ_DONE)
         {
           //- if trajectory is processed, all ok to go to origin point
           this->force_state_moving ();
+          trajectory_stuff.state = TRAJ_GOING_TO_START_POINT;
           this->set_positions (trajectory_stuff.origin_point);
         }
         else
@@ -915,6 +917,9 @@ INFO_STREAM << "HWProxy::handle_message::GROUP_DEFINE_POSITION cmd " << cmd << "
       return tango_state;
     }
     
+      
+
+   
     //- request_for_moving management
     if (this->request_for_moving)
     {
@@ -973,6 +978,10 @@ INFO_STREAM << "HWProxy::handle_message::GROUP_DEFINE_POSITION cmd " << cmd << "
         this->group_state <= 17 &&
         this->request_for_moving == 0)
     {
+      if (trajectory_stuff.state == TRAJ_GOING_TO_START_POINT)
+        trajectory_stuff.state = TRAJ_AT_START_POINT;
+      if (trajectory_stuff.state == TRAJ_RUNNING_TRAJ)
+        trajectory_stuff.state = TRAJ_DONE;
       return Tango::STANDBY;
     }
     //- DISABLE
@@ -1356,6 +1365,7 @@ std::cout << "nb_lignes = " << nb_lignes << "  taille ligne = " << taille_ligne
     std::string resp;
     s << "MultipleAxesPVTResetInMemory(" << conf.group_name << ")" << std::endl;
     this->write_read (s.str (),resp);
+    trajectory_stuff.state = TRAJ_NOT_INITIALIZED;
     std::cout << "HWProxy::trajectory_clear () cmd " << s.str () << " returned " << resp << std::endl;  
   }
 
@@ -1386,12 +1396,103 @@ std::cout << "nb_lignes = " << nb_lignes << "  taille ligne = " << taille_ligne
         << conf.group_name
         << ",FromMemory)";
     this->write_read (cmd.str (),resp);
+    //- check the error returned by MultipleAxesPVTVerification
+    
+    if (resp.find ("Error") == std::string::npos)
+    {
+      trajectory_stuff.state = TRAJ_CHECK_OK;
+      return true;
+    }    
+    
+    trajectory_stuff.state = TRAJ_CHECK_ERROR;
+    
+    size_t end_idx = resp.find_first_of (":");
+    std::string err_code_str;
+    err_code_str = resp.substr (8,end_idx - 8);
+    std::cout << "HWProxy::trajectory_check_hw () err_code = " << err_code_str << std::endl;
+    int err_code = yat::XString<int>::to_num (err_code_str);
+
+
+    std::string error_txt;
+    if (err_code != 0)
+    {
+      switch (err_code)
+      {
+        case ERR_BASE_VELOCITY : 
+          error_txt = "ERR_BASE_VELOCITY";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_FATAL_INIT : 
+          error_txt = "ERR_FATAL_INIT";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_IN_INITIALIZATION : 
+          error_txt = "ERR_IN_INITIALIZATION";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_POSITIONER_NAME : 
+          error_txt = "ERR_POSITIONER_NAME";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_READ_FILE : 
+          error_txt = "ERR_READ_FILE";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_STRING_TOO_LONG : 
+          error_txt = "ERR_STRING_TOO_LONG";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_TRAJ_EMPTY : 
+          error_txt = "ERR_TRAJ_EMPTY";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_TRAJ_ACC_LIMIT : 
+          error_txt = "ERR_TRAJ_ACC_LIMIT";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_TRAJ_FINAL_VELOCITY : 
+          error_txt = "ERR_TRAJ_FINAL_VELOCITY";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_TRAJ_INITIALIZATION : 
+          error_txt = "ERR_TRAJ_INITIALIZATION";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_TRAJ_TIME : 
+          error_txt = "ERR_TRAJ_TIME";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_TRAJ_VEL_LIMIT : 
+          error_txt = "ERR_TRAJ_VEL_LIMIT";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_WRONG_FORMAT : 
+          error_txt = "ERR_WRONG_FORMAT";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_WRONG_OBJECT_TYPE : 
+          error_txt = "ERR_WRONG_OBJECT_TYPE";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+        case ERR_WRONG_PARAMETERS_NUMBER : 
+          error_txt = "ERR_WRONG_PARAMETERS_NUMBER";
+          ERROR_STREAM << "trajectory_check_hw () " << error_txt << std::endl;
+        break;
+      }
+      this->last_error = error_txt;
+      Tango::Except::throw_exception("OPERATION_NOT_ALLOWED",
+                                     error_txt.c_str (),
+                                     "HWProxy::trajectory_check_hw");
+    }
+    INFO_STREAM << "HWProxy::trajectory_check_hw trajectory check success" << std::endl;
+    
     //- now check positioner by positioner
     for (size_t i = 0; i < hw_data.size (); i++)
     {
       if (this->trajectory_check_hw_i (hw_data [i].posit_name) == false)
         return false;
     }
+    
     std::cout << "HWProxy::trajectory_check_hw commande <"
               << cmd.str ()
               << "> retourne ["
@@ -1441,11 +1542,12 @@ std::cout << "nb_lignes = " << nb_lignes << "  taille ligne = " << taille_ligne
   {
     DEBUG_STREAM << "HWProxy::trajectory_start () <-" << std::endl;
 
+  this->trajectory_stuff.state = TRAJ_RUNNING_TRAJ;
     std::stringstream cmd;
    //- MultipleAxesPVTExecution (GroupName, "FromMemory", n) (n is the number of times to be sequentially executed)      }
     cmd << "MultipleAxesPVTExecution("
         << conf.group_name
-        << ",\"FromMemory\",1)";
+        << ",FromMemory,1)";
     this->write (cmd.str ());
   }
 

src/task/HWProxy.h

@@ -66,6 +66,8 @@ namespace xpsg
     TRAJ_AT_START_POINT,
     TRAJ_CHECKING,
     TRAJ_CHECK_OK,
+    TRAJ_RUNNING_TRAJ,
+    TRAJ_DONE,
     TRAJ_CHECK_ERROR
   } TrajState;
 
@@ -86,6 +88,24 @@ namespace xpsg
   };
   
 
+  //- TRAJECTORY STUFF  
+  #define ERR_BASE_VELOCITY -48
+  #define ERR_FATAL_INIT -20
+  #define ERR_IN_INITIALIZATION -21
+  #define ERR_POSITIONER_NAME -18
+  #define ERR_READ_FILE -61
+  #define ERR_STRING_TOO_LONG -3
+  #define ERR_TRAJ_EMPTY -66
+  #define ERR_TRAJ_ACC_LIMIT -69
+  #define ERR_TRAJ_FINAL_VELOCITY -70
+  #define ERR_TRAJ_INITIALIZATION -72
+  #define ERR_TRAJ_TIME -75
+  #define ERR_TRAJ_VEL_LIMIT -68
+  #define ERR_WRONG_FORMAT -7
+  #define ERR_WRONG_OBJECT_TYPE -8
+  #define ERR_WRONG_PARAMETERS_NUMBER -9
+
+
   // ========================================================
   //---------------------------------------------------------  
   //- the YAT user messages