diff --git a/CMakeLists.txt b/CMakeLists.txt
index 27872415325156255e65af8f491ac7dd4ee36a70..d04718d144bffe017e025f74336648bd432f5a5c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 3.15)
project(${PROJECT_NAME} CXX)
find_package(yat4tango CONFIG REQUIRED)
-find_package(utils CONFIG REQUIRED)
if (NOT CMAKE_SYSTEM_NAME STREQUAL "Windows")
find_package(crashreporting2 CONFIG)
endif()
@@ -21,7 +20,6 @@ set(includedirs
add_executable(${EXECUTABLE_NAME} ${sources})
target_include_directories(${EXECUTABLE_NAME} PRIVATE ${includedirs})
target_link_libraries(${EXECUTABLE_NAME} PRIVATE yat4tango::yat4tango)
-target_link_libraries(${EXECUTABLE_NAME} PRIVATE utils::utils)
if (NOT CMAKE_SYSTEM_NAME STREQUAL "Windows")
target_link_libraries(${EXECUTABLE_NAME} PRIVATE crashreporting2::crashreporting2)
endif()
diff --git a/conanfile.py b/conanfile.py
index 7ca9c8da2870255990afcb56d953093127bccfb0..fa3a23fd11ea6cbdfe9ae98499852f7317337562 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -3,7 +3,7 @@ from conan import ConanFile
class SimulatedMotorRecipe(ConanFile):
name = "simulatedmotor"
executable = "ds_SimulatedMotor"
- version = "2.0.2"
+ version = "2.0.3"
package_type = "application"
user = "soleil"
python_requires = "base/[>=1.0]@soleil/stable"
@@ -22,6 +22,5 @@ class SimulatedMotorRecipe(ConanFile):
def requirements(self):
self.requires("yat4tango/[>=1.0]@soleil/stable")
- self.requires("utils/[>=1.0]@soleil/stable")
if self.settings.os == "Linux":
self.requires("crashreporting2/[>=1.0]@soleil/stable")
diff --git a/src/SimulatedMotor.cpp b/src/SimulatedMotor.cpp
index 3330b0ba535c8098e02efc6c426515fc67f6e674..b23b25c386688ffc859c9d24b693d159d50ef186 100644
--- a/src/SimulatedMotor.cpp
+++ b/src/SimulatedMotor.cpp
@@ -61,7 +61,6 @@ static const char *RcsId = "$Id: $";
#include <tango.h>
#include "PogoHelper.h"
-#include "Tools.h"
#include <SimulatedMotor.h>
#include <SimulatedMotorClass.h>
#include <float.h>
@@ -593,8 +592,6 @@ void SimulatedMotor::write_accuracy(Tango::WAttribute &attr)
INFO_STREAM << "accuracy <- " << attr_accuracy_write;
}
-
-
//+------------------------------------------------------------------
/**
* method: SimulatedMotor::forward
@@ -608,9 +605,7 @@ void SimulatedMotor::write_accuracy(Tango::WAttribute &attr)
//+------------------------------------------------------------------
void SimulatedMotor::forward()
{
- DEBUG_STREAM << "SimulatedMotor::forward(): entering... !" << endl;
-
- INFO_STREAM << "Command called: forward";
+ INFO_STREAM << "SimulatedMotor::forward(): entering... !" << endl;
if (*attr_positionLocked_read == true)
{
@@ -635,9 +630,7 @@ void SimulatedMotor::forward()
//+------------------------------------------------------------------
void SimulatedMotor::backward()
{
- DEBUG_STREAM << "SimulatedMotor::backward(): entering... !" << endl;
-
- INFO_STREAM << "Command called: backward";
+ INFO_STREAM << "SimulatedMotor::backward(): entering... !" << endl;
if (*attr_positionLocked_read == true)
{
@@ -661,9 +654,7 @@ void SimulatedMotor::backward()
//+------------------------------------------------------------------
void SimulatedMotor::stop()
{
- DEBUG_STREAM << "SimulatedMotor::stop(): entering... !" << endl;
-
- INFO_STREAM << "Command called: stop";
+ INFO_STREAM << "SimulatedMotor::stop(): entering... !" << endl;
yat::Message * msg = new yat::Message(MSG_STOP, DEFAULT_MSG_PRIORITY, true);
m_task->wait_msg_handled(msg); // handle message synchronously (ensure exiting backward() in STANDBY state)
@@ -681,9 +672,7 @@ void SimulatedMotor::stop()
//+------------------------------------------------------------------
void SimulatedMotor::motor_on()
{
- DEBUG_STREAM << "SimulatedMotor::motor_on(): entering... !" << endl;
-
- INFO_STREAM << "Command called: motor_on";
+ INFO_STREAM << "SimulatedMotor::motor_on(): entering... !" << endl;
if (get_state() == Tango::STANDBY) return;
@@ -703,9 +692,7 @@ void SimulatedMotor::motor_on()
//+------------------------------------------------------------------
void SimulatedMotor::motor_off()
{
- DEBUG_STREAM << "SimulatedMotor::motor_off(): entering... !" << endl;
-
- INFO_STREAM << "Command called: motor_off";
+ INFO_STREAM << "SimulatedMotor::motor_off(): entering... !" << endl;
yat::Message * msg = new yat::Message(MSG_OFF);
m_task->post(msg);
@@ -762,7 +749,7 @@ Tango::DevState SimulatedMotor::dev_state()
default:
{
- device_status << GetDeviceState(device_state);
+ device_status << Tango::DevStateName[device_state];
}
}
@@ -787,7 +774,7 @@ Tango::DevState SimulatedMotor::dev_state()
//+------------------------------------------------------------------
void SimulatedMotor::force_state(Tango::DevString argin)
{
- DEBUG_STREAM << "SimulatedMotor::force_state(): entering... !" << endl;
+ INFO_STREAM << "SimulatedMotor::force_state(): entering... !" << endl;
// Find the index of the given string
yat::String state_in = argin;
diff --git a/src/SimulatedMotor.cpp.bak b/src/SimulatedMotor.cpp.bak
deleted file mode 100755
index 3579bd115d18cd57981f0fd54766df15afc9d1fa..0000000000000000000000000000000000000000
--- a/src/SimulatedMotor.cpp.bak
+++ /dev/null
@@ -1,812 +0,0 @@
-static const char *RcsId = "$Id: $";
-//+=============================================================================
-//
-// file : SimulatedMotor.cpp
-//
-// description : C++ source for the SimulatedMotor and its commands.
-// The class is derived from Device. It represents the
-// CORBA servant object which will be accessed from the
-// network. All commands which can be executed on the
-// SimulatedMotor are implemented in this file.
-//
-// project : TANGO Device Server
-//
-// $Author: $
-//
-// $Revision: $
-//
-// $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
-//=============================================================================
-
-
-
-//===================================================================
-//
-// The following table gives the correspondence
-// between commands and method name.
-//
-// Command name| Method name
-// ----------------------------------------
-// State | dev_state()
-// Status | dev_status()
-// Forward | forward()
-// Backward | backward()
-// Stop | stop()
-// MotorON | motor_on()
-// MotorOFF | motor_off()
-// ForceSTATE | force_state()
-//
-//===================================================================
-
-
-#include <tango.h>
-#include "PogoHelper.h"
-#include "Tools.h"
-#include <SimulatedMotor.h>
-#include <SimulatedMotorClass.h>
-#include <float.h>
-
-namespace SimulatedMotor_ns
-{
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::SimulatedMotor(string &s)
-//
-// description : constructor for simulated SimulatedMotor
-//
-// in : - cl : Pointer to the DeviceClass object
-// - s : Device name
-//
-//-----------------------------------------------------------------------------
-SimulatedMotor::SimulatedMotor(Tango::DeviceClass *cl,string &s)
-:Tango::Device_4Impl(cl,s.c_str()), m_is_init_startup(true)
-{
- init_device();
-}
-
-SimulatedMotor::SimulatedMotor(Tango::DeviceClass *cl,const char *s)
-:Tango::Device_4Impl(cl,s), m_is_init_startup(true)
-{
- init_device();
-}
-
-SimulatedMotor::SimulatedMotor(Tango::DeviceClass *cl,const char *s,const char *d)
-:Tango::Device_4Impl(cl,s,d), m_is_init_startup(true)
-{
- init_device();
-}
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::delete_device()
-//
-// description : will be called at device destruction or at init command.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::delete_device()
-{
- // Delete device allocated objects
- DELETE_SCALAR_ATTRIBUTE(attr_position_read);
- DELETE_SCALAR_ATTRIBUTE(attr_offset_read);
- DELETE_SCALAR_ATTRIBUTE(attr_velocity_read);
- DELETE_SCALAR_ATTRIBUTE(attr_accuracy_read);
- DELETE_SCALAR_ATTRIBUTE(attr_backlash_read);
- DELETE_SCALAR_ATTRIBUTE(attr_acceleration_read);
- DELETE_SCALAR_ATTRIBUTE(attr_deceleration_read);
- DELETE_SCALAR_ATTRIBUTE(attr_backwardLimitSwitch_read);
- DELETE_SCALAR_ATTRIBUTE(attr_forwardLimitSwitch_read);
- DELETE_SCALAR_ATTRIBUTE(attr_positionLocked_read);
-
- //- release the inner-appender
- INFO_STREAM << "Remove the inner-appender." << endl;
- yat4tango::InnerAppender::release(this);
-
- INFO_STREAM << "Remove the log-adapter." << endl;
- yat4tango::YatLogAdapter::release();
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::init_device()
-//
-// description : will be called at device initialization.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::init_device()
-{
- INFO_STREAM << "SimulatedMotor::init_device() entering ...";
-
- //- instanciate the appender in order ton manage logs
- DEBUG_STREAM << "Add the inner-appender." << endl;
- try
- {
- //- specify both the associated device and the log buffer depth
- yat4tango::InnerAppender::initialize(this, 1024);
- }
- catch (Tango::DevFailed& df)
- {
- ERROR_STREAM << df << endl;
- set_state(Tango::INIT);
- return;
- }
-
- // Initialise variables to default values
- //--------------------------------------------
- get_device_property();
-
- CREATE_SCALAR_ATTRIBUTE(attr_position_read);
- CREATE_SCALAR_ATTRIBUTE(attr_offset_read);
- CREATE_SCALAR_ATTRIBUTE(attr_velocity_read);
- CREATE_SCALAR_ATTRIBUTE(attr_accuracy_read);
- CREATE_SCALAR_ATTRIBUTE(attr_backlash_read);
- CREATE_SCALAR_ATTRIBUTE(attr_acceleration_read);
- CREATE_SCALAR_ATTRIBUTE(attr_deceleration_read);
- CREATE_SCALAR_ATTRIBUTE(attr_backwardLimitSwitch_read);
- CREATE_SCALAR_ATTRIBUTE(attr_forwardLimitSwitch_read);
- CREATE_SCALAR_ATTRIBUTE(attr_positionLocked_read);
-
- m_statuses.push_back("ON");
- m_statuses.push_back("OFF");
- m_statuses.push_back("CLOSE");
- m_statuses.push_back("OPEN");
- m_statuses.push_back("INSERT");
- m_statuses.push_back("EXTRACT");
- m_statuses.push_back("MOVING");
- m_statuses.push_back("STANDBY");
- m_statuses.push_back("FAULT");
- m_statuses.push_back("INIT");
- m_statuses.push_back("RUNNING");
- m_statuses.push_back("ALARM");
- m_statuses.push_back("DISABLE");
- m_statuses.push_back("UNKNOWN");
-
- // Log
- yat4tango::YatLogAdapter::initialize(this);
-
- m_previous_state = Tango::INIT;
- set_state(Tango::INIT);
-
- // Create and start the task
- m_task.reset(new SimulatedMotorTask(this), TaskExiter());
- yat::Message* msg = yat::Message::allocate(yat::TASK_INIT, INIT_MSG_PRIORITY, true);
- m_task->go(msg);
-
- // Init default values
- if (m_is_init_startup)
- {
- m_is_init_startup = false;
-
- attr_velocity_write = 10.0;
- Tango::WAttribute &init_velocity = dev_attr->get_w_attr_by_name("velocity");
- init_velocity.set_write_value(attr_velocity_write);
- write_velocity(init_velocity);
- }
-
- attr_positionLocked_write = false;
- Tango::WAttribute &init_positionLocked = dev_attr->get_w_attr_by_name("positionLocked");
- init_positionLocked.set_write_value(attr_positionLocked_write);
- write_positionLocked(init_positionLocked);
-
- m_is_write_at_init = true;
-
- INFO_STREAM << "SimulatedMotor::init_device() exiting ...\n";
-}
-
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::get_device_property()
-//
-// description : Read the device properties from database.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::get_device_property()
-{
- // Initialize your default values here (if not done with POGO).
-}
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::always_executed_hook()
-//
-// description : method always executed before any command is executed
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::always_executed_hook()
-{
- try
- {
- dev_state();
- }
- catch (Tango::DevFailed& df)
- {
- ERROR_STREAM << df << endl;
- RETHROW_DEVFAILED( df, "TANGO_DEVICE_ERROR", string(df.errors[0].desc).c_str(), "SimulatedMotor::always_executed_hook" );
- }
-}
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_attr_hardware
-//
-// description : Hardware acquisition for attributes.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_attr_hardware(vector<long> &attr_list)
-{
- DEBUG_STREAM << "SimulatedMotor::read_attr_hardware(vector<long> &attr_list) entering... "<< endl;
- // Add your own code here
-}
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_positionLocked
-//
-// description : Extract real attribute values for positionLocked acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_positionLocked(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_positionLocked(Tango::Attribute &attr) entering... "<< endl;
- attr.set_value(attr_positionLocked_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_positionLocked
-//
-// description : Write positionLocked attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_positionLocked(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_positionLocked(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_positionLocked_write);
- *attr_positionLocked_read = attr_positionLocked_write;
-
- INFO_STREAM << "positionLocked <- " << attr_positionLocked_write;
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_backwardLimitSwitch
-//
-// description : Extract real attribute values for backwardLimitSwitch acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_backwardLimitSwitch(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_backwardLimitSwitch(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_backwardLimitSwitch_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_backwardLimitSwitch
-//
-// description : Write backwardLimitSwitch attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_backwardLimitSwitch(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_backwardLimitSwitch(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_backwardLimitSwitch_write);
- *attr_backwardLimitSwitch_read = attr_backwardLimitSwitch_write;
-
- INFO_STREAM << "backwardLimitSwitch <- " << attr_backwardLimitSwitch_write;
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_forwardLimitSwitch
-//
-// description : Extract real attribute values for forwardLimitSwitch acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_forwardLimitSwitch(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_forwardLimitSwitch(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_forwardLimitSwitch_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_forwardLimitSwitch
-//
-// description : Write forwardLimitSwitch attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_forwardLimitSwitch(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_forwardLimitSwitch(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_forwardLimitSwitch_write);
- *attr_forwardLimitSwitch_read = attr_forwardLimitSwitch_write;
-
- INFO_STREAM << "forwardLimitSwitch <- " << attr_forwardLimitSwitch_write;
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_backlash
-//
-// description : Extract real attribute values for backlash acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_backlash(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_backlash(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_backlash_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_backlash
-//
-// description : Write backlash attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_backlash(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_backlash(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_backlash_write);
- *attr_backlash_read = attr_backlash_write;
-
- INFO_STREAM << "backlash <- " << attr_backlash_write;
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_acceleration
-//
-// description : Extract real attribute values for acceleration acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_acceleration(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_acceleration(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_acceleration_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_acceleration
-//
-// description : Write acceleration attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_acceleration(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_acceleration(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_acceleration_write);
- *attr_acceleration_read = attr_acceleration_write;
-
- INFO_STREAM << "acceleration <- " << attr_acceleration_write;
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_deceleration
-//
-// description : Extract real attribute values for deceleration acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_deceleration(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_deceleration(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_deceleration_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_deceleration
-//
-// description : Write deceleration attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_deceleration(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_deceleration(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_deceleration_write);
- *attr_deceleration_read = attr_deceleration_write;
-
- INFO_STREAM << "deceleration <- " << attr_deceleration_write;
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_position
-//
-// description : Extract real attribute values for position acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_position(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_position(Tango::Attribute &attr) entering... "<< endl;
-
- *attr_position_read = m_task->get_position() + (*attr_offset_read);
- attr.set_value(attr_position_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_position
-//
-// description : Write position attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_position(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_position(Tango::WAttribute &attr) entering... "<< endl;
-
- if (*attr_positionLocked_read == true)
- {
- Tango::Except::throw_exception("TANGO_DEVICE_ERROR","Position is locked.", "SimulatedMotor::write_position");
- }
-
- attr.get_write_value(attr_position_write);
-
- INFO_STREAM << "position <- " << attr_position_write;
-
- // Init position in task at init
- if (m_is_write_at_init)
- {
- m_is_write_at_init = false;
- yat::Message * msg = new yat::Message(MSG_INITPOSITION);
- msg->attach_data(attr_position_write);
- m_task->post(msg);
- }
- else
- // Move only if displacement is greater than accuracy
- if ( fabs(attr_position_write - *attr_position_read) > *attr_accuracy_read)
- {
- yat::Message * msg = new yat::Message(MSG_SETPOSITION);
- msg->attach_data(attr_position_write);
- m_task->post(msg);
- }
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_offset
-//
-// description : Extract real attribute values for offset acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_offset(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_offset(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_offset_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_offset
-//
-// description : Write offset attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_offset(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_offset(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_offset_write);
- *attr_offset_read = attr_offset_write;
-
- INFO_STREAM << "offset <- " << attr_offset_write;
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_velocity
-//
-// description : Extract real attribute values for velocity acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_velocity(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_velocity(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_velocity_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_velocity
-//
-// description : Write velocity attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_velocity(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_velocity(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_velocity_write);
-
- INFO_STREAM << "velocity <- " << attr_velocity_write;
-
- *attr_velocity_read = attr_velocity_write;
- yat::Message * msg = new yat::Message(MSG_SETVELOCITY);
- msg->attach_data(attr_velocity_write);
- m_task->post(msg);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::read_accuracy
-//
-// description : Extract real attribute values for accuracy acquisition result.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::read_accuracy(Tango::Attribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::read_accuracy(Tango::Attribute &attr) entering... "<< endl;
-
- attr.set_value(attr_accuracy_read);
-}
-
-//+----------------------------------------------------------------------------
-//
-// method : SimulatedMotor::write_accuracy
-//
-// description : Write accuracy attribute values to hardware.
-//
-//-----------------------------------------------------------------------------
-void SimulatedMotor::write_accuracy(Tango::WAttribute &attr)
-{
- DEBUG_STREAM << "SimulatedMotor::write_accuracy(Tango::WAttribute &attr) entering... "<< endl;
-
- attr.get_write_value(attr_accuracy_write);
- *attr_accuracy_read = attr_accuracy_write;
-
- INFO_STREAM << "accuracy <- " << attr_accuracy_write;
-}
-
-
-
-//+------------------------------------------------------------------
-/**
- * method: SimulatedMotor::forward
- *
- * description: method to execute "Forward"
- * Increment in a continuous way the position attribute value of the device.<BR>
- * Each increment is equal to StepSize.
- *
- *
- */
-//+------------------------------------------------------------------
-void SimulatedMotor::forward()
-{
- DEBUG_STREAM << "SimulatedMotor::forward(): entering... !" << endl;
-
- INFO_STREAM << "Command called: forward";
-
- if (*attr_positionLocked_read == true)
- {
- Tango::Except::throw_exception("TANGO_DEVICE_ERROR","Position is locked.", "SimulatedMotor::forward");
- }
-
- yat::Message * msg = new yat::Message(MSG_SETPOSITION);
- msg->attach_data(DBL_MAX);
- m_task->post(msg);
-}
-
-//+------------------------------------------------------------------
-/**
- * method: SimulatedMotor::backward
- *
- * description: method to execute "Backward"
- * decrement in a continuous way the position attribute value of the device.<BR>
- * Each increment is equal to StepSize.
- *
- *
- */
-//+------------------------------------------------------------------
-void SimulatedMotor::backward()
-{
- DEBUG_STREAM << "SimulatedMotor::backward(): entering... !" << endl;
-
- INFO_STREAM << "Command called: backward";
-
- if (*attr_positionLocked_read == true)
- {
- Tango::Except::throw_exception("TANGO_DEVICE_ERROR","Position is locked.", "SimulatedMotor::backward");
- }
-
- yat::Message * msg = new yat::Message(MSG_SETPOSITION);
- msg->attach_data(-DBL_MAX);
- m_task->post(msg);
-}
-
-//+------------------------------------------------------------------
-/**
- * method: SimulatedMotor::stop
- *
- * description: method to execute "Stop"
- * Stop the current movement of the device.
- *
- *
- */
-//+------------------------------------------------------------------
-void SimulatedMotor::stop()
-{
- DEBUG_STREAM << "SimulatedMotor::stop(): entering... !" << endl;
-
- INFO_STREAM << "Command called: stop";
-
- yat::Message * msg = new yat::Message(MSG_STOP);
- msg->attach_data(-DBL_MAX);
- m_task->post(msg);
-}
-
-//+------------------------------------------------------------------
-/**
- * method: SimulatedMotor::motor_on
- *
- * description: method to execute "MotorON"
- * Switch the power of the motor to On. State is switched to Standby.
- *
- *
- */
-//+------------------------------------------------------------------
-void SimulatedMotor::motor_on()
-{
- DEBUG_STREAM << "SimulatedMotor::motor_on(): entering... !" << endl;
-
- INFO_STREAM << "Command called: motor_on";
-
- if (get_state() == Tango::STANDBY) return;
-
- yat::Message * msg = new yat::Message(MSG_ON);
- m_task->post(msg);
-}
-
-//+------------------------------------------------------------------
-/**
- * method: SimulatedMotor::motor_off
- *
- * description: method to execute "MotorOFF"
- * Switch the power of the motor to Off. State is switched to Off.
- *
- *
- */
-//+------------------------------------------------------------------
-void SimulatedMotor::motor_off()
-{
- DEBUG_STREAM << "SimulatedMotor::motor_off(): entering... !" << endl;
-
- INFO_STREAM << "Command called: motor_off";
-
- yat::Message * msg = new yat::Message(MSG_OFF);
- m_task->post(msg);
-}
-
-
-//+------------------------------------------------------------------
-/**
- * method: SimulatedMotor::dev_state
- *
- * description: method to execute "State"
- * This command gets the device state (stored in its <i>device_state</i> data member) and returns it to the caller.
- *
- * @return State Code
- *
- */
-//+------------------------------------------------------------------
-Tango::DevState SimulatedMotor::dev_state()
-{
- DEBUG_STREAM << "SimulatedMotor::dev_state(): entering... !" << endl;
-
- // Add your own code to control device here
- stringstream device_status;
- device_status << "";
- Tango::DevState device_state = m_task->get_state();
- set_state(device_state);
-
- switch (device_state)
- {
- case Tango::STANDBY:
- {
- if (*attr_positionLocked_read)
- {
- device_status << "axis position locked [STANDBY]";
- }
- else
- {
- device_status << "axis up and ready [STANDBY]";
- }
- break;
- }
-
- case Tango::MOVING:
- {
- device_status << "axis is MOVING";
- break;
- }
-
- case Tango::OFF:
- {
- device_status << "axis off [motor is OFF]";
- break;
- }
-
- default:
- {
- device_status << GetDeviceState(device_state);
- }
- }
-
- set_status(device_status.str());
-
- return device_state;
-}
-
-
-
-
-//+------------------------------------------------------------------
-/**
- * method: SimulatedMotor::force_state
- *
- * description: method to execute "ForceSTATE"
- * This command allows forcing the state of the device for tests purposes.
- *
- * @param argin A tango devstate name (FAULT, INIT ...)
- *
- */
-//+------------------------------------------------------------------
-void SimulatedMotor::force_state(Tango::DevString argin)
-{
- DEBUG_STREAM << "SimulatedMotor::force_state(): entering... !" << endl;
-
- // Find the index of the given string
- yat::String state_in = argin;
- state_in.to_upper();
-
- vector<string>::const_iterator it = find(m_statuses.begin(), m_statuses.end(), state_in);
- if (it!=m_statuses.end())
- {
- Tango::DevState state = Tango::DevState(it - m_statuses.begin());
-
- yat::Message * msg = new yat::Message(MSG_FORCESTATE);
- msg->attach_data(state);
- m_task->post(msg);
- }
- else
- {
- yat::String msg = "Possible states are:\n";
- for (unsigned int i=0; i<m_statuses.size(); i++) msg.printf("%s%s\n", msg.c_str(), m_statuses.at(i).c_str() );
- Tango::Except::throw_exception("TANGO_DEVICE_ERROR", msg.c_str(), "SimulatedMotor::force_state");
- }
-}
-
-
-} // namespace