From 64affbdfac61db2eae33265525b01f8fd8dc5614 Mon Sep 17 00:00:00 2001
From: gscalamera <graziano.scalamera@elettra.eu>
Date: Fri, 11 Aug 2023 16:07:39 +0200
Subject: [PATCH] Add HasVelocityAcceleration flag
---
src/ConexAgp.cpp | 32 ++++++++++++++++++++++++++++++++
src/ConexAgp.h | 2 ++
src/ConexAgpClass.cpp | 13 +++++++++++++
src/readthread.cpp | 21 ++++++++++++---------
4 files changed, 59 insertions(+), 9 deletions(-)
diff --git a/src/ConexAgp.cpp b/src/ConexAgp.cpp
index cb1d261..2fe582e 100644
--- a/src/ConexAgp.cpp
+++ b/src/ConexAgp.cpp
@@ -310,6 +310,7 @@ void ConexAgp::get_device_property()
dev_prop.push_back(Tango::DbDatum("DeviceName"));
dev_prop.push_back(Tango::DbDatum("ControllerAddr"));
dev_prop.push_back(Tango::DbDatum("LegacySerial"));
+ dev_prop.push_back(Tango::DbDatum("HasVelocityAcceleration"));
// is there at least one property to be read ?
if (dev_prop.size()>0)
@@ -357,6 +358,17 @@ void ConexAgp::get_device_property()
// And try to extract LegacySerial value from database
if (dev_prop[i].is_empty()==false) dev_prop[i] >> legacySerial;
+ // Try to initialize HasVelocityAcceleration from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> hasVelocityAcceleration;
+ else {
+ // Try to initialize HasVelocityAcceleration from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> hasVelocityAcceleration;
+ }
+ // And try to extract HasVelocityAcceleration value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> hasVelocityAcceleration;
+
}
/*----- PROTECTED REGION ID(ConexAgp::get_device_property_after) ENABLED START -----*/
@@ -485,6 +497,11 @@ void ConexAgp::read_Acceleration(Tango::Attribute &attr)
{
DEBUG_STREAM << "ConexAgp::read_Acceleration(Tango::Attribute &attr) entering... " << endl;
/*----- PROTECTED REGION ID(ConexAgp::read_Acceleration) ENABLED START -----*/
+ if(!hasVelocityAcceleration)
+ Tango::Except::throw_exception(
+ (const char *) "NotSupported",
+ (const char *) "Not supported",
+ (const char *) __func__, Tango::ERR);
// Set the attribute value
attr.set_value(attr_Acceleration_read);
@@ -506,6 +523,11 @@ void ConexAgp::write_Acceleration(Tango::WAttribute &attr)
Tango::DevDouble w_val;
attr.get_write_value(w_val);
/*----- PROTECTED REGION ID(ConexAgp::write_Acceleration) ENABLED START -----*/
+ if(!hasVelocityAcceleration)
+ Tango::Except::throw_exception(
+ (const char *) "NotSupported",
+ (const char *) "Not supported",
+ (const char *) __func__, Tango::ERR);
string resp("NO");
stringstream cmd;
cmd << SET_ACCELERATION << w_val;
@@ -527,6 +549,11 @@ void ConexAgp::read_Speed(Tango::Attribute &attr)
DEBUG_STREAM << "ConexAgp::read_Speed(Tango::Attribute &attr) entering... " << endl;
/*----- PROTECTED REGION ID(ConexAgp::read_Speed) ENABLED START -----*/
// Set the attribute value
+ if(!hasVelocityAcceleration)
+ Tango::Except::throw_exception(
+ (const char *) "NotSupported",
+ (const char *) "Not supported",
+ (const char *) __func__, Tango::ERR);
attr.set_value(attr_Speed_read);
/*----- PROTECTED REGION END -----*/ // ConexAgp::read_Speed
@@ -547,6 +574,11 @@ void ConexAgp::write_Speed(Tango::WAttribute &attr)
Tango::DevDouble w_val;
attr.get_write_value(w_val);
/*----- PROTECTED REGION ID(ConexAgp::write_Speed) ENABLED START -----*/
+ if(!hasVelocityAcceleration)
+ Tango::Except::throw_exception(
+ (const char *) "NotSupported",
+ (const char *) "Not supported",
+ (const char *) __func__, Tango::ERR);
string resp("NO");
stringstream cmd;
cmd << SET_SPEED << w_val;
diff --git a/src/ConexAgp.h b/src/ConexAgp.h
index b72418e..4bb7c36 100644
--- a/src/ConexAgp.h
+++ b/src/ConexAgp.h
@@ -110,6 +110,8 @@ public:
Tango::DevLong controllerAddr;
// LegacySerial: Use legacy serial-srv
Tango::DevBoolean legacySerial;
+ // HasVelocityAcceleration: VA and AC command supported
+ Tango::DevBoolean hasVelocityAcceleration;
// Attribute data members
public:
diff --git a/src/ConexAgpClass.cpp b/src/ConexAgpClass.cpp
index a947aab..18565d5 100644
--- a/src/ConexAgpClass.cpp
+++ b/src/ConexAgpClass.cpp
@@ -413,6 +413,19 @@ void ConexAgpClass::set_default_property()
}
else
add_wiz_dev_prop(prop_name, prop_desc);
+ prop_name = "HasVelocityAcceleration";
+ prop_desc = "VA and AC command supported";
+ prop_def = "true";
+ vect_data.clear();
+ if (prop_def.length()>0)
+ {
+ Tango::DbDatum data(prop_name);
+ data << vect_data ;
+ dev_def_prop.push_back(data);
+ add_wiz_dev_prop(prop_name, prop_desc, prop_def);
+ }
+ else
+ add_wiz_dev_prop(prop_name, prop_desc);
}
//--------------------------------------------------------
diff --git a/src/readthread.cpp b/src/readthread.cpp
index 4045ed2..da6038b 100644
--- a/src/readthread.cpp
+++ b/src/readthread.cpp
@@ -144,15 +144,18 @@ void readthread::run(void *)
*(_device->attr_TargetPosition_read) = postx;
INFO_STREAM << __func__<<": " << posx << " -> "<<*(_device->attr_TargetPosition_read);
usleep(10000);
- double posa;
- _device->SendReceive(string(GET_ACCELERATION), posa);
- *(_device->attr_Acceleration_read) = posa;
- INFO_STREAM << __func__<<": " << posx << " -> "<<*(_device->attr_Acceleration_read);
- usleep(10000);
- double posv;
- _device->SendReceive(string(GET_SPEED), posv);
- *(_device->attr_Speed_read) = posv;
- INFO_STREAM << __func__<<": " << posx << " -> "<<*(_device->attr_Speed_read);
+ if(_device->hasVelocityAcceleration)
+ {
+ double posa;
+ _device->SendReceive(string(GET_ACCELERATION), posa);
+ *(_device->attr_Acceleration_read) = posa;
+ INFO_STREAM << __func__<<": " << posx << " -> "<<*(_device->attr_Acceleration_read);
+ usleep(10000);
+ double posv;
+ _device->SendReceive(string(GET_SPEED), posv);
+ *(_device->attr_Speed_read) = posv;
+ INFO_STREAM << __func__<<": " << posx << " -> "<<*(_device->attr_Speed_read);
+ }
abort_sleep(1);
}
--
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