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  • cs/ds/axisg2selector
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with 489 additions and 52 deletions
.gitignore
View file @ 2e37f47b
.gitignore
MYNOTES.txt
MSG.txt
README.txt
src.tgz
.nse_depinfo
bin/
obj/
Makefile
View file @ 2e37f47b
......@@ -14,6 +14,7 @@ EXTRAFLAGS =
#CXXFLAGS += -D_DBG_UPDATER_STATE_INVALID
#CXXFLAGS += -D_DBG_WRITE_DYN_POSITION
#CXXFLAGS += -D_DBG_PARSE_TARGETS
CXXFLAGS += -D_DBG_PARSE_SEQ_TARGETS
#CXXFLAGS += -D_DBG_TARGET_UPDATE
#CXXFLAGS += -D_DBG_TARGET_GO_ALL
#CXXFLAGS += -D_DBG_TARGET_UPDATE_STATE
......@@ -28,6 +29,8 @@ EXTRAFLAGS =
#CXXFLAGS += -D_DBG_TFSM
#CXXFLAGS += -D_DBG_TFSM_ADDCMDS
CXXFLAGS += -D_DBG_THREAD
#CXXFLAGS += -D_DBG_GETTPOS
#CXXFLAGS += -D_DBG_BUG01_ON_T932
......
src/AxisG2Selector.cpp
View file @ 2e37f47b
......@@ -927,7 +927,7 @@ void AxisG2Selector::write_Instrument(Tango::WAttribute &attr)
if ( (*tit).name().compare(w_val) == 0 ) {
if ( Selector_new_val != i ){
Selector_new_val = i;
fsm->fsm(FSMT_GOTO, (*trgs_in_use)[Selector_new_val], MODE_ALL);
fsm->fsm(FSMT_GOTO, (*trgs_in_use)[Selector_new_val]);
}
break;
}
......@@ -999,7 +999,7 @@ void AxisG2Selector::write_Selector(Tango::WAttribute &attr)
}
if ( *attr_Selector_read != (int) w_val ){
fsm->fsm(FSMT_GOTO, (*trgs_in_use)[w_val], MODE_ALL);
fsm->fsm(FSMT_GOTO, (*trgs_in_use)[w_val]);
}
......@@ -1356,7 +1356,8 @@ void AxisG2Selector::read_TrajectoryFSM(Tango::Attribute &attr)
Target fake;
fsm->fsm(FSMT_NOP, fake, MODE_NULL);
fake.mode(MODE_NULL);
fsm->fsm(FSMT_NOP, fake);
vector<source_state_dval_t>::iterator svit;
for (svit = sources_val.begin(); svit != sources_val.end(); ++svit){
......@@ -1369,7 +1370,8 @@ void AxisG2Selector::read_TrajectoryFSM(Tango::Attribute &attr)
((get_state() == Tango::ALARM) && ((fsm->state() != FSM_WAIT)&&(fsm->state() != FSM_START)))
){
Target fake;
fsm->fsm(FSMT_ABORT, fake, MODE_NULL);
fake.mode(MODE_NULL);
fsm->fsm(FSMT_ABORT, fake);
Selector_new_val = -1;
return;
}
......@@ -2075,7 +2077,8 @@ void AxisG2Selector::stop()
#endif
Target fake;
fsm->fsm(FSMT_ABORT, fake, MODE_NULL);
fake.mode(MODE_NULL);
fsm->fsm(FSMT_ABORT, fake);
Selector_new_val = -1;
if (attr_Instrument_Selector_quality == Tango::ATTR_INVALID) tfsm->clear();
......
src/AxisG2Selector.h
View file @ 2e37f47b
......@@ -42,11 +42,11 @@
#include "Types.h"
#include "Targets.h"
#include <math.h>
#include "FSM.h"
#include "TFSM.h"
#include <math.h>
#include "CombineState.h"
#ifdef HAVE_SAFETYMANAGER
......@@ -57,6 +57,8 @@
#include "History.h"
#include "SeqMoveThreadErrors.h"
// MYCODE-END
......@@ -73,6 +75,7 @@ namespace AxisG2Selector_ns
/*----- PROTECTED REGION ID(AxisG2Selector::Additional Class Declarations) ENABLED START -----*/
// Additional Class Declarations
class SeqMoveThread;
/*----- PROTECTED REGION END -----*/ // AxisG2Selector::Additional Class Declarations
......@@ -111,6 +114,7 @@ friend class TFSM;
History_ns::history* hist;
// MYCODE-END
......
src/FSM.cpp
View file @ 2e37f47b
......@@ -15,7 +15,7 @@ TrajectoryFSM::~TrajectoryFSM(){
}
void TrajectoryFSM::fsm(TrajectoryFSMTransitions_t tr, Target trg, TrajectoryMode_t mode){ // proceed with FSM
void TrajectoryFSM::fsm(TrajectoryFSMTransitions_t tr, Target trg){ // proceed with FSM
bool retval = false;
......@@ -85,10 +85,14 @@ void TrajectoryFSM::fsm(TrajectoryFSMTransitions_t tr, Target trg, TrajectoryMo
case FSMT_GOTO:
switch (_state){
case FSM_WAIT:
if (mode == MODE_ALL) {
if (trg.mode() == MODE_ALL) {
_working_trg.go_all(_dev->sources, _dev->sources_val);
_state = FSM_START;
}
if (trg.mode() == MODE_SEQ) {
_working_trg.go_seq(_dev->sources, _dev->sources_val);
_state = FSM_START;
}
break;
case FSM_START:
_state = FSM_WAIT_TARGET;
......@@ -109,6 +113,7 @@ void TrajectoryFSM::fsm(TrajectoryFSMTransitions_t tr, Target trg, TrajectoryMo
_state = FSM_WAIT;
_tr = FSMT_NOP;
_cnt = 0;
_working_trg.stop();
break;
default:
break;
......
src/FSM.h
View file @ 2e37f47b
#ifndef __FSM_H__
#define __FSM_H__
namespace AxisG2Selector_ns
{
#include "Types.h"
#include "Targets.h"
//include "AxisG2Selector.h"
namespace AxisG2Selector_ns
{
class AxisG2Selector;
......@@ -52,11 +48,6 @@ const char * const TrajectoryFSMTransitions[] = {
"FSMT_AXISINIT: sources axis init"
};
typedef enum {
MODE_NULL,
MODE_ALL
} TrajectoryMode_t;
class TrajectoryFSM {
......@@ -72,7 +63,7 @@ public:
TrajectoryFSM(AxisG2Selector * dev);
~TrajectoryFSM();
void fsm(TrajectoryFSMTransitions_t tr, Target trg, TrajectoryMode_t mode); // proceed with FSM
void fsm(TrajectoryFSMTransitions_t tr, Target trg); // proceed with FSM
void init() { _state = FSM_WAIT; _tr = FSMT_NOP; };
TrajectoryFSM_t state() { return _state; };
string status() { switch(_state){
......@@ -101,5 +92,6 @@ public:
};
} //namespace
#endif /* __FSM_H__ */
src/ParseTargets.cpp
View file @ 2e37f47b
......@@ -15,6 +15,10 @@ bool AxisG2Selector::parseTargets(vector<string>& targets, vector<Target>& trgs
// nickName non puo` essere ripetuto
// nickName deve essere presente in AxisDevices
// Con le sequenze:
// TargetName;TargetStatus;nickName:positionValue:positionDelta[;nickName:positionValue:positionDelta][{nickName:positionValue:positionDelta[;nickName:positionValue:positionDelta]}]
// vector<string> targets;
// typedef struct {
......@@ -32,8 +36,42 @@ bool AxisG2Selector::parseTargets(vector<string>& targets, vector<Target>& trgs
vector<string> a, sts;
Target trg;
target_source_t ts;
bool sequence_f = false;
string trg_conf("");
string seq_conf("");
for (size_t j=0; j<targets.size(); j++ ){
a = splitby(targets[j].c_str(), ';');
trg_conf = targets[j];
size_t found;
found = targets[j].find_first_of("{");
if (found != string::npos ) { // FOUND START SEQUENCE
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: FOUND START SEQUENCE" << std::endl;
#endif
trg_conf = targets[j].substr(0, found);
string reminder = targets[j].substr(found+1); // exclude "{"
found = reminder.find_last_of("}");
if (found != string::npos ) { // FOUND END SEQUENCE
seq_conf = reminder.substr(0, found); // exclude "}"
sequence_f = true;
trg.mode(MODE_SEQ);
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: FOUND END SEQUENCE" << std::endl;
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: SEQUENCE=|" << seq_conf << "|" << std::endl;
#endif
}
} else {
sequence_f = false;
//
// default: MODE_ALL
//
trg.mode(MODE_ALL);
trg_conf = targets[j];
}
//
// "usual" part of target...
//
a = splitby(trg_conf.c_str(), ';');
if (a.size() >= 1 ) trg.name(a[0]);
if (a.size() >= 2 ) trg.stateOnTarget(a[1]);
......@@ -74,9 +112,56 @@ bool AxisG2Selector::parseTargets(vector<string>& targets, vector<Target>& trgs
}
b += 1;
}
//
// "sequence" part of target...
//
if (sequence_f){
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: SEQUENCE=|" << seq_conf << "| at target: " << trg.name() << std::endl;
#endif
a = splitby(seq_conf.c_str(), ';');
for (b = 0; b < a.size(); b++){
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: SEQUENCE ... ";
cout << "Searching: ";
cout << a[b];
cout << endl;
#endif /* _DBG_PARSE_SEQ_TARGETS */
sts = splitby(a[b].c_str(), ':');
if ( sts.size()== 3 ){
mit = nick2idx.find(sts[0]);
if (mit != nick2idx.end()){
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: SEQUENCE ... ";
cout << "Found! " << sts[0] << endl;
#endif /* _DBG_PARSE_SEQ_TARGETS */
source_found = true;
ts.source_idx = nick2idx[sts[0]];
ts.positionValue = (double)atof(sts[1].c_str());
ts.positionDelta = (double)atof(sts[2].c_str());
trg.push_trg_src_seq(ts);
} else {
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: SEQUENCE ... ";
cout << "NOT Found! " << sts[0] << endl;
#endif /* _DBG_PARSE_SEQ_TARGETS */
source_found = false;
}
}
}
}
if (source_found) trgs.push_back(trg);
else return false;
trg.clear_trg_src();
trg.clear_trg_src_seq();
};
#ifdef _DBG_PARSE_TARGETS
......
src/SeqMoveThread.cpp 0 → 100644
View file @ 2e37f47b
#include <cmath>
#include "SeqMoveThread.h"
#undef _FUNC
namespace AxisG2Selector_ns {
void SeqMoveThread::run(void *) {
#ifdef _DBG_THREAD
cout << "SeqMoveThread::run()" << endl;
#endif
_trgp->th_err.th_err = TH_RUNNING;
Tango::DeviceAttribute da;
while (_go_on) {
#ifdef _DBG_THREAD
cout << "SeqMoveThread::while(" << (_go_on?"true":"false") << ")" << endl;
#endif
for (vector<target_source_t>::iterator tsit=_trgp->_trgSrcSeq.begin(); tsit != _trgp->_trgSrcSeq.end(); ++tsit){
if ( (_sources[(*tsit).source_idx].configured) ){
Tango::DeviceAttribute da;
double w_val = (*tsit).positionValue;
#ifdef _DBG_PARSE_SEQ_TARGETS
cout << "Target::go_seq(): SET " << _sources[(*tsit).source_idx].dev << " " << _sources[(*tsit).source_idx].attr << " = " << w_val << endl;
#endif /* _DBG_PARSE_SEQ_TARGETS */
// already on pos?
#ifdef _DBG_THREAD
cout << " ----------------------- " << endl;
cout << "source_idx: " << (*tsit).source_idx << endl;
cout << "positionValue: " << (*tsit).positionValue << endl;
cout << "positionDelta: " << (*tsit).positionDelta << endl;
cout << endl;
cout << "source_idx: " << _sources_val[(*tsit).source_idx].source_idx << endl;
cout << "val: " << _sources_val[(*tsit).source_idx].val << endl;
#endif /* _DBG_TARGET_UPDATE */
//if ( (*svit).quality == Tango::ATTR_INVALID ) ont=_on_target = false;
#if 1
if ( fabs((*tsit).positionValue - (_sources_val[(*tsit).source_idx].val)) > (*tsit).positionDelta ) {
try {
da.set_name(_sources[(*tsit).source_idx].attr);
switch (_sources[(*tsit).source_idx].data_type){
case Tango::DEV_FLOAT: break;
case Tango::DEV_DOUBLE: { double double_val = (double)w_val; da << double_val; }; break;
case Tango::DEV_LONG: { Tango::DevLong long_val = (Tango::DevLong)w_val; da << long_val; }; break;
case Tango::DEV_USHORT: { unsigned short us_val = (unsigned short)w_val; da << us_val; }; break;
case Tango::DEV_SHORT: { short short_val = (short)w_val; da << short_val; }; break;
default: cout << "Not implemented attr_type= "<< Tango::CmdArgTypeName[_sources[(*tsit).source_idx].data_type];
}
_sources[(*tsit).source_idx].dp->write_attribute(da);
} catch(...) {
string ss(ag2s_error_str(AG2S_E004));
ss.append(" : exception on Tango::DeviceProxy(" + _sources[(*tsit).source_idx].dev + ")!");
cout << ss << endl;
//append_status(ss, true);
}
// wait....
#if 0
#ifdef _DBG_PARSE_SEQ_TARGETS
cout << "Target::go_seq(): " << _sources[(*tsit).source_idx].dev << " ";
cout << _sources[(*tsit).source_idx].dp->status() << " ... before sleep...." << endl;
#endif
usleep(100*1000);
while (_sources[(*tsit).source_idx].dp->state() == Tango::MOVING) {
#if 1
#ifdef _DBG_PARSE_SEQ_TARGETS
cout << "Target::go_seq(): " << _sources[(*tsit).source_idx].dev << " ";
cout << _sources[(*tsit).source_idx].dp->status() << " ... sleep...." << endl;
#endif /* _DBG_PARSE_SEQ_TARGETS */
#endif
usleep(10*1000);
}
#else
do {
while ( fabs((*tsit).positionValue - (_sources_val[(*tsit).source_idx].val)) > (*tsit).positionDelta ) {
#ifdef _DBG_THREAD
cout << "Target::go_seq(): while pos: ";
cout << "fabs() =" << fabs((*tsit).positionValue - (_sources_val[(*tsit).source_idx].val)) << " ";
cout << "delta =" << (*tsit).positionDelta;
cout << endl;
#endif
usleep(100*1000);
update_pos((*tsit).source_idx);
}
#ifdef _DBG_THREAD
cout << "Target::go_seq(): while MOVING" << endl;
#endif
usleep(100*1000);
} while (_sources[(*tsit).source_idx].dp->state() == Tango::MOVING);
#endif
}
#else
cout << "NO SEQ MOVE !!!" << endl;
#endif
} // if ( configured )
} // for ( _trgSrcSeq )
_trgp->th_err.th_err = TH_EXIT_OK;
_go_on = false;
exit();
};
_trgp->th_err.th_err = TH_FORCEDEXIT;
_go_on = false;
}
void SeqMoveThread::update_pos(int tsit_source_idx){
Tango::DeviceAttribute attr = _sources[tsit_source_idx].dp->read_attribute(_sources[tsit_source_idx].attr);
switch (_sources[tsit_source_idx].data_type){
case Tango::DEV_FLOAT: float float_val; attr >> float_val; _sources_val[tsit_source_idx].val = (double)float_val ; break;
case Tango::DEV_DOUBLE: double double_val; attr >> double_val; _sources_val[tsit_source_idx].val = (double)double_val; break;
case Tango::DEV_LONG: long long_val; attr >> long_val; _sources_val[tsit_source_idx].val = (double)long_val; break;
case Tango::DEV_USHORT: unsigned short us_val; attr >> us_val; _sources_val[tsit_source_idx].val = (double)us_val; break;
case Tango::DEV_SHORT: short s_val; attr >> s_val; _sources_val[tsit_source_idx].val = (double)s_val; break;
case Tango::DATA_TYPE_UNKNOWN:
#if 0
cout << "Unknown attr_type!" << endl;
#endif
Tango::Except::throw_exception(
"Empty/UnknownDeviceAttribute",
"cannot extract, no data in DeviceAttribute object ",
"DeviceAttribute::is_empty"
);
break;
default:
{
if (_sources[tsit_source_idx].data_type <= Tango::DEVVAR_STATEARRAY)
cout << "Not implemented attr_type= "<< Tango::CmdArgTypeName[_sources[tsit_source_idx].data_type] << endl;
else
cout << "Unknown attr_type!" << endl;
throw;
};
break;
}
}
} //namespace
src/SeqMoveThread.h 0 → 100644
View file @ 2e37f47b
#ifndef SEQMOVETHREAD_H_
#define SEQMOVETHREAD_H_
#include <omnithread.h>
#include <tango.h>
#include <iostream>
#include "AxisG2Selector.h"
namespace AxisG2Selector_ns
{
class SeqMoveThread : public omni_thread {
public:
SeqMoveThread(Target* trgp, vector<sourceDev2_t> &sources, vector<source_state_dval_t> &sources_val) :
_trgp(trgp),
_go_on(true),
_sources(sources),
_sources_val(sources_val) {
#ifdef _DBG_THREAD
cout << "SeqMoveThread()"<< endl;
#endif
}
virtual ~SeqMoveThread() {
#ifdef _DBG_THREAD
cout << "~SeqMoveThread()" << endl;
#endif
}
void abort(void) { _go_on = false;}
protected:
void run(void *);
void update_pos(int tsit_source_idx);
private:
Target* _trgp;
bool _go_on;
vector<sourceDev2_t> _sources;
vector<source_state_dval_t> _sources_val;
};
}
#endif /* SEQMOVETHREAD_H_ */
src/SeqMoveThreadErrors.h 0 → 100644
View file @ 2e37f47b
#ifndef _SEQERRORS_H_
#define _SEQERRORS_H_
typedef enum {
TH_FORCEDEXIT = -5,
TH_ASKABORT = -4,
TH_NOTHREAD = -3,
TH_THREAD = -2,
TH_RUNNING = -1,
TH_EXIT_OK = 0
} th_err_value_t;
typedef struct {
th_err_value_t th_err;
string th_desc;
} th_err_t;
inline string th_error(th_err_t e){
switch (e.th_err){
case TH_FORCEDEXIT: return "Forced exit in thread"; break;
case TH_ASKABORT: return "Ask thread to abort"; break;
case TH_NOTHREAD: return "No thread"; break;
case TH_THREAD: return "Thread present"; break;
case TH_RUNNING: return "Thread running"; break;
case TH_EXIT_OK: return "Thread exit success"; break;
default: return "-?-"; break;
}
return "Undef!";
}
#endif /* _SEQERRORS_H_ */
src/Sources.cpp
View file @ 2e37f47b
#include <AxisG2Selector.h>
#include "AxisG2Selector.h"
#define STRINGSIZE 128
......
src/Targets.cpp
View file @ 2e37f47b
......@@ -118,35 +118,25 @@ bool Target::updateState(vector<sourceDev2_t> &sources){
cout << "______ ";
cout << sources[(*tsit).source_idx].nickName << " : " << Tango::DevStateName[ns] << endl;
#endif /* _DBG_TARGET_UPDATE_STATE */
#if 0
#if 0
s = combineState(s, ns);
#else
switch(ns){
case Tango::FAULT:
case Tango::ALARM:
case Tango::DISABLE:
case Tango::MOVING:
s = ns;
break;
case Tango::OFF:
case Tango::ON:
case Tango::CLOSE:
case Tango::OPEN:
case Tango::INSERT:
case Tango::EXTRACT:
case Tango::STANDBY:
case Tango::INIT:
case Tango::RUNNING:
case Tango::UNKNOWN:
break;
}
#endif
#else /* 0 primo */
s = table[ns][s];
#endif /* 0 primo */
}
}
if (moving_thread != NULL) {
switch (th_err.th_err){
default:
case TH_FORCEDEXIT:
case TH_ASKABORT:
case TH_NOTHREAD:
case TH_THREAD:
case TH_EXIT_OK:
break;
case TH_RUNNING:
s = Tango::MOVING;
break;
}
}
_state = s;
#ifdef _DBG_TARGET_UPDATE_STATE
......@@ -212,7 +202,95 @@ bool Target::stop(vector<sourceDev2_t> &sources){
return true;
}
bool Target::go_seq(vector<sourceDev2_t> &sources, vector<source_state_dval_t> &sources_val){
// anche nella go_all: sources_val NON sono usati!
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: begin" << std::endl;
#endif
#if 0
for (vector<target_source_t>::iterator tsit=_trgSrcSeq.begin(); tsit != _trgSrcSeq.end(); ++tsit){
Tango::DeviceAttribute da;
double w_val = (*tsit).positionValue;
if ( (sources[(*tsit).source_idx].configured) ){
#ifdef _DBG_PARSE_SEQ_TARGETS
cout << "Target::go_seq(): " << sources[(*tsit).source_idx].dev << " " << sources[(*tsit).source_idx].attr << " < " << w_val << endl;
#endif /* _DBG_PARSE_SEQ_TARGETS */
try {
da.set_name(sources[(*tsit).source_idx].attr);
switch (sources[(*tsit).source_idx].data_type){
case Tango::DEV_FLOAT: break;
case Tango::DEV_DOUBLE: { double double_val = (double)w_val; da << double_val; }; break;
case Tango::DEV_LONG: { Tango::DevLong long_val = (Tango::DevLong)w_val; da << long_val; }; break;
case Tango::DEV_USHORT: { unsigned short us_val = (unsigned short)w_val; da << us_val; }; break;
case Tango::DEV_SHORT: { short short_val = (short)w_val; da << short_val; }; break;
default: cout << "Not implemented attr_type= "<< Tango::CmdArgTypeName[sources[(*tsit).source_idx].data_type];
}
sources[(*tsit).source_idx].dp->write_attribute(da);
} catch(...) {
string ss(ag2s_error_str(AG2S_E004));
ss.append(" : exception on Tango::DeviceProxy(" + sources[(*tsit).source_idx].dev + ")!");
cout << ss << endl;
//append_status(ss, true);
}
}
}
#else
if (moving_thread != NULL) {
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: going to kill moving_thread " << std::endl;
#endif
moving_thread->abort();
}
th_err.th_err = TH_NOTHREAD;
th_err.th_desc.clear();
try {
moving_thread = new SeqMoveThread(this, sources, sources_val);
} catch (...) {
cout << "ERROR in new moving_thread! " << endl;
moving_thread = NULL;
}
th_err.th_err = TH_THREAD;
try {
if (moving_thread!=NULL) {
moving_thread->start();
status_msg = "Moving sequence in progress...";
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: " << status_msg << std::endl;
#endif
}
} catch (...) {
cout << "ERROR in moving_thread.start()! " << endl;
}
#endif
#ifdef _DBG_PARSE_SEQ_TARGETS
std::cout << __func__ << "()@" << __FILE__ << ":" << __LINE__ << " :: end" << std::endl;
#endif
return true;
}
/********************************************************
*
*
*
********************************************************/
bool Target::stop(){
if (_mode == MODE_SEQ){
if (moving_thread != NULL) {
moving_thread->abort();
}
th_err.th_err = TH_NOTHREAD;
th_err.th_desc.clear();
moving_thread = NULL;
};
return true;
}
/********************************************************
*
......
src/Targets.h
View file @ 2e37f47b
......@@ -2,6 +2,15 @@
#define __TARGETS_H__
#include "AxisG2Selector.h"
namespace AxisG2Selector_ns
{
class Target;
class SeqMoveThread;
}
#include "SeqMoveThreadErrors.h"
#include "SeqMoveThread.h"
namespace AxisG2Selector_ns
{
......@@ -48,7 +57,14 @@ private:
Tango::DevState _state_on_target;
Tango::DevState _state;
vector<target_source_t> _trgSrc;
vector<target_source_t> _trgSrcSeq;
bool _on_target;
TrajectoryMode_t _mode;
friend class SeqMoveThread;
SeqMoveThread* moving_thread;
th_err_t th_err;
string status_msg;
public:
string name() { return _name; };
......@@ -61,10 +77,15 @@ public:
Tango::DevState state() { return _state; };
void push_trg_src(target_source_t ts ) { _trgSrc.push_back(ts); };
void clear_trg_src() { _trgSrc.clear(); };
vector<target_source_t> trg_src() { return _trgSrc; };
void trg_src(vector<target_source_t> trg_src) { _trgSrc = trg_src; };
void push_trg_src(target_source_t ts ) { _trgSrc.push_back(ts); };
void clear_trg_src() { _trgSrc.clear(); };
vector<target_source_t> trg_src() { return _trgSrc; };
void trg_src(vector<target_source_t> trg_src) { _trgSrc = trg_src; };
void push_trg_src_seq(target_source_t ts ) { _trgSrcSeq.push_back(ts); };
void clear_trg_src_seq() { _trgSrcSeq.clear(); };
vector<target_source_t> trg_src_seq() { return _trgSrcSeq; };
void trg_src_seq(vector<target_source_t> trg_src) { _trgSrcSeq = trg_src; };
bool updateState(vector<sourceDev2_t> &sources);
bool update(vector<source_state_dval_t> &sources_val); // legge i valori e aggiorna il suo state, ritorna false se qualche problema per acquisire i dati
......@@ -72,6 +93,7 @@ public:
bool onTarget(); // true se le posizioni delle sources rimangono all'interno di positionValue +/-positionDelta
// aggiorna _state.
bool go_all(vector<sourceDev2_t> &sources, vector<source_state_dval_t> &sources_val);
bool go_seq(vector<sourceDev2_t> &sources, vector<source_state_dval_t> &sources_val);
bool stop(vector<sourceDev2_t> &sources);
#if 0
......@@ -79,6 +101,11 @@ public:
#endif
bool operator!= (Target &other);
TrajectoryMode_t mode() {return _mode;};
bool mode(TrajectoryMode_t m){ _mode = m; return true;};
bool stop();
};
......
src/Types.h
View file @ 2e37f47b
......@@ -48,6 +48,11 @@ typedef enum {
INTERSECATO
} range_t;
typedef enum {
MODE_NULL,
MODE_ALL,
MODE_SEQ
} TrajectoryMode_t;
} // namespace
#endif /* __TYPES_H__ */