/*----- PROTECTED REGION ID(ConexAgp.cpp) ENABLED START -----*/
static const char *RcsId = "$Id: ConexAgp.cpp,v 1.1 2017-12-21 11:26:12 graziano Exp $";
//=============================================================================
//
// file : ConexAgp.cpp
//
// description : C++ source for the ConexAgp class 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
// ConexAgp are implemented in this file.
//
// project : Newport ConexAgp Agilis-D controller
//
// This file is part of Tango device class.
//
// Tango is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// Tango is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with Tango. If not, see <http://www.gnu.org/licenses/>.
//
// $Author: graziano $
//
// $Revision: 1.1 $
// $Date: 2017-12-21 11:26:12 $
//
// $HeadURL: $
//
//=============================================================================
// This file is generated by POGO
// (Program Obviously used to Generate tango Object)
//=============================================================================
#include <ConexAgp.h>
#include <ConexAgpClass.h>
//from Serial.h for legacy serial-srv
#define SL_RAW 0 /* raw read/write mode */
#define SL_NCHAR 1 /* character read/write mode */
#define SL_LINE 2 /* line read mode */
#define SL_RETRY 3 /* retry read mode */
#ifndef MODULE_BUILDTIME
#define MODULE_BUILDTIME " " __DATE__ " " __TIME__
#endif
const char version_string[] = "$Build: " MODULE_BUILDTIME " $";
const char release_string[] = "$Name: $";
static const char __FILE__rev[] = __FILE__ " $Revision: 1.1 $";
static const char *ver = (const char *)&version_string;
/*----- PROTECTED REGION END -----*/ // ConexAgp.cpp
/**
* ConexAgp class description:
* Newport ConexAgp Agilis-D controller
*/
//================================================================
// The following table gives the correspondence
// between command and method names.
//
// Command name | Method name
//================================================================
// State | Inherited (no method)
// Status | Inherited (no method)
// Homing | homing
// Stop | stop
// GetVersion | get_version
// Reset | reset
// Backward | backward
// Forward | forward
// Enable | enable
// Disable | disable
//================================================================
//================================================================
// Attributes managed are:
//================================================================
// Position | Tango::DevDouble Scalar
// TargetPosition | Tango::DevDouble Scalar
//================================================================
namespace ConexAgp_ns
{
/*----- PROTECTED REGION ID(ConexAgp::namespace_starting) ENABLED START -----*/
// static initializations
/*----- PROTECTED REGION END -----*/ // ConexAgp::namespace_starting
//--------------------------------------------------------
/**
* Method : ConexAgp::ConexAgp()
* Description : Constructors for a Tango device
* implementing the classConexAgp
*/
//--------------------------------------------------------
ConexAgp::ConexAgp(Tango::DeviceClass *cl, string &s)
: TANGO_BASE_CLASS(cl, s.c_str())
{
/*----- PROTECTED REGION ID(ConexAgp::constructor_1) ENABLED START -----*/
init_device();
/*----- PROTECTED REGION END -----*/ // ConexAgp::constructor_1
}
//--------------------------------------------------------
ConexAgp::ConexAgp(Tango::DeviceClass *cl, const char *s)
: TANGO_BASE_CLASS(cl, s)
{
/*----- PROTECTED REGION ID(ConexAgp::constructor_2) ENABLED START -----*/
init_device();
/*----- PROTECTED REGION END -----*/ // ConexAgp::constructor_2
}
//--------------------------------------------------------
ConexAgp::ConexAgp(Tango::DeviceClass *cl, const char *s, const char *d)
: TANGO_BASE_CLASS(cl, s, d)
{
/*----- PROTECTED REGION ID(ConexAgp::constructor_3) ENABLED START -----*/
init_device();
/*----- PROTECTED REGION END -----*/ // ConexAgp::constructor_3
}
//--------------------------------------------------------
/**
* Method : ConexAgp::delete_device()
* Description : will be called at device destruction or at init command
*/
//--------------------------------------------------------
void ConexAgp::delete_device()
{
DEBUG_STREAM << "ConexAgp::delete_device() " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::delete_device) ENABLED START -----*/
// Delete device allocated objects
loop->abortflag = true;
sleep(1);
delete mutex;
if (device_proxy)
{
delete device_proxy;
device_proxy = NULL;
}
/*----- PROTECTED REGION END -----*/ // ConexAgp::delete_device
delete[] attr_Position_read;
delete[] attr_TargetPosition_read;
}
//--------------------------------------------------------
/**
* Method : ConexAgp::init_device()
* Description : will be called at device initialization.
*/
//--------------------------------------------------------
void ConexAgp::init_device()
{
DEBUG_STREAM << "ConexAgp::init_device() create device " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::init_device_before) ENABLED START -----*/
DEBUG_STREAM << __func__<< " entering... ver: " << version_string << " " << release_string << " file: " << __FILE__rev << endl;
// Initialization before get_device_property() call
controller_states.insert(make_pair(0x0a, make_state_desc(Tango::STANDBY,string("Not Referenced from Reset"))));
controller_states.insert(make_pair(0x0b, make_state_desc(Tango::STANDBY,string("Not Referenced from Homing"))));
controller_states.insert(make_pair(0x0c, make_state_desc(Tango::STANDBY,string("Not Referenced from Configuration"))));
controller_states.insert(make_pair(0x0d, make_state_desc(Tango::STANDBY,string("Not Referenced from Disable"))));
controller_states.insert(make_pair(0x0e, make_state_desc(Tango::STANDBY,string("Not Referenced from Ready"))));
controller_states.insert(make_pair(0x0f, make_state_desc(Tango::STANDBY,string("Not Referenced from Moving"))));
controller_states.insert(make_pair(0x10, make_state_desc(Tango::STANDBY,string("Not Referenced no parameters"))));
controller_states.insert(make_pair(0x14, make_state_desc(Tango::ALARM,string("Configuration"))));
controller_states.insert(make_pair(0x1e, make_state_desc(Tango::MOVING,string("Homing"))));
controller_states.insert(make_pair(0x28, make_state_desc(Tango::MOVING,string("Moving"))));
controller_states.insert(make_pair(0x32, make_state_desc(Tango::ON,string("Ready from Homing"))));
controller_states.insert(make_pair(0x33, make_state_desc(Tango::ON,string("Ready from Moving"))));
controller_states.insert(make_pair(0x34, make_state_desc(Tango::ON,string("Ready from Disable"))));
controller_states.insert(make_pair(0x3C, make_state_desc(Tango::DISABLE,string("Disable from Ready"))));
controller_states.insert(make_pair(0x3D, make_state_desc(Tango::DISABLE,string("Disable from Moving"))));
device_proxy = NULL;
/*----- PROTECTED REGION END -----*/ // ConexAgp::init_device_before
// Get the device properties from database
get_device_property();
attr_Position_read = new Tango::DevDouble[1];
attr_TargetPosition_read = new Tango::DevDouble[1];
/*----- PROTECTED REGION ID(ConexAgp::init_device) ENABLED START -----*/
// Initialize device
device_proxy = new Tango::DeviceProxy(deviceName);
try
{
device_proxy->ping();
}
catch(Tango::DevFailed &e)
{
DEBUG_STREAM << __func__<<": error pinging, err="<<e.errors[0].desc;
set_state(Tango::FAULT);
set_status(string(e.errors[0].desc));
return;
}
//empty buffers
try
{
if(!legacySerial)
{
Tango::DeviceAttribute dattrin1("Timeout",(Tango::DevLong)5);
device_proxy->write_attribute(dattrin1);
Tango::DevLong len = 500;
Tango::DeviceData dintmp, douttmp;
dintmp<<len;
douttmp = device_proxy->command_inout("Read", dintmp);
}
else
{
Tango::DeviceData Din;
Tango::DevLong flush = 2; //flush input and output
Din << flush;
device_proxy->command_inout("DevSerFlush",Din);
}
}
catch(Tango::DevFailed &e)
{
}
catch(...)
{
}
if(!legacySerial)
{
try
{
Tango::DeviceAttribute dattrin2("Timeout",(Tango::DevLong)1000);
device_proxy->write_attribute(dattrin2);
}
catch(Tango::DevFailed &e)
{
DEBUG_STREAM << __func__<<": error setting timeout, err="<<e.errors[0].desc;
set_state(Tango::FAULT);
set_status(string(e.errors[0].desc));
}
catch(...)
{
}
}
set_change_event("State", true, true);
set_archive_event("State", true, true);
mutex = new omni_mutex();
loop = new readthread(this);
loop->start();
/*----- PROTECTED REGION END -----*/ // ConexAgp::init_device
}
//--------------------------------------------------------
/**
* Method : ConexAgp::get_device_property()
* Description : Read database to initialize property data members.
*/
//--------------------------------------------------------
void ConexAgp::get_device_property()
{
/*----- PROTECTED REGION ID(ConexAgp::get_device_property_before) ENABLED START -----*/
// Initialize property data members
/*----- PROTECTED REGION END -----*/ // ConexAgp::get_device_property_before
// Read device properties from database.
Tango::DbData dev_prop;
dev_prop.push_back(Tango::DbDatum("DeviceName"));
dev_prop.push_back(Tango::DbDatum("ControllerAddr"));
dev_prop.push_back(Tango::DbDatum("LegacySerial"));
// is there at least one property to be read ?
if (dev_prop.size()>0)
{
// Call database and extract values
if (Tango::Util::instance()->_UseDb==true)
get_db_device()->get_property(dev_prop);
// get instance on ConexAgpClass to get class property
Tango::DbDatum def_prop, cl_prop;
ConexAgpClass *ds_class =
(static_cast<ConexAgpClass *>(get_device_class()));
int i = -1;
// Try to initialize DeviceName from class property
cl_prop = ds_class->get_class_property(dev_prop[++i].name);
if (cl_prop.is_empty()==false) cl_prop >> deviceName;
else {
// Try to initialize DeviceName from default device value
def_prop = ds_class->get_default_device_property(dev_prop[i].name);
if (def_prop.is_empty()==false) def_prop >> deviceName;
}
// And try to extract DeviceName value from database
if (dev_prop[i].is_empty()==false) dev_prop[i] >> deviceName;
// Try to initialize ControllerAddr from class property
cl_prop = ds_class->get_class_property(dev_prop[++i].name);
if (cl_prop.is_empty()==false) cl_prop >> controllerAddr;
else {
// Try to initialize ControllerAddr from default device value
def_prop = ds_class->get_default_device_property(dev_prop[i].name);
if (def_prop.is_empty()==false) def_prop >> controllerAddr;
}
// And try to extract ControllerAddr value from database
if (dev_prop[i].is_empty()==false) dev_prop[i] >> controllerAddr;
// Try to initialize LegacySerial from class property
cl_prop = ds_class->get_class_property(dev_prop[++i].name);
if (cl_prop.is_empty()==false) cl_prop >> legacySerial;
else {
// Try to initialize LegacySerial from default device value
def_prop = ds_class->get_default_device_property(dev_prop[i].name);
if (def_prop.is_empty()==false) def_prop >> legacySerial;
}
// And try to extract LegacySerial value from database
if (dev_prop[i].is_empty()==false) dev_prop[i] >> legacySerial;
}
/*----- PROTECTED REGION ID(ConexAgp::get_device_property_after) ENABLED START -----*/
// Check device property data members init
/*----- PROTECTED REGION END -----*/ // ConexAgp::get_device_property_after
}
//--------------------------------------------------------
/**
* Method : ConexAgp::always_executed_hook()
* Description : method always executed before any command is executed
*/
//--------------------------------------------------------
void ConexAgp::always_executed_hook()
{
DEBUG_STREAM << "ConexAgp::always_executed_hook() " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::always_executed_hook) ENABLED START -----*/
// code always executed before all requests
/*----- PROTECTED REGION END -----*/ // ConexAgp::always_executed_hook
}
//--------------------------------------------------------
/**
* Method : ConexAgp::read_attr_hardware()
* Description : Hardware acquisition for attributes
*/
//--------------------------------------------------------
void ConexAgp::read_attr_hardware(TANGO_UNUSED(vector<long> &attr_list))
{
DEBUG_STREAM << "ConexAgp::read_attr_hardware(vector<long> &attr_list) entering... " << endl;
/*----- PROTECTED REGION ID(ConexAgp::read_attr_hardware) ENABLED START -----*/
// Add your own code
/*----- PROTECTED REGION END -----*/ // ConexAgp::read_attr_hardware
}
//--------------------------------------------------------
/**
* Method : ConexAgp::write_attr_hardware()
* Description : Hardware writing for attributes
*/
//--------------------------------------------------------
void ConexAgp::write_attr_hardware(TANGO_UNUSED(vector<long> &attr_list))
{
DEBUG_STREAM << "ConexAgp::write_attr_hardware(vector<long> &attr_list) entering... " << endl;
/*----- PROTECTED REGION ID(ConexAgp::write_attr_hardware) ENABLED START -----*/
// Add your own code
/*----- PROTECTED REGION END -----*/ // ConexAgp::write_attr_hardware
}
//--------------------------------------------------------
/**
* Read attribute Position related method
* Description:
*
* Data type: Tango::DevDouble
* Attr type: Scalar
*/
//--------------------------------------------------------
void ConexAgp::read_Position(Tango::Attribute &attr)
{
DEBUG_STREAM << "ConexAgp::read_Position(Tango::Attribute &attr) entering... " << endl;
/*----- PROTECTED REGION ID(ConexAgp::read_Position) ENABLED START -----*/
// Set the attribute value
attr.set_value(attr_Position_read);
/*----- PROTECTED REGION END -----*/ // ConexAgp::read_Position
}
//--------------------------------------------------------
/**
* Write attribute Position related method
* Description:
*
* Data type: Tango::DevDouble
* Attr type: Scalar
*/
//--------------------------------------------------------
void ConexAgp::write_Position(Tango::WAttribute &attr)
{
DEBUG_STREAM << "ConexAgp::write_Position(Tango::WAttribute &attr) entering... " << endl;
// Retrieve write value
Tango::DevDouble w_val;
attr.get_write_value(w_val);
/*----- PROTECTED REGION ID(ConexAgp::write_Position) ENABLED START -----*/
string resp("NO");
stringstream cmd;
cmd << MOVE_ABSOLUTE << w_val;
SendReceive(cmd.str(), resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::write_Position
}
//--------------------------------------------------------
/**
* Read attribute TargetPosition related method
* Description:
*
* Data type: Tango::DevDouble
* Attr type: Scalar
*/
//--------------------------------------------------------
void ConexAgp::read_TargetPosition(Tango::Attribute &attr)
{
DEBUG_STREAM << "ConexAgp::read_TargetPosition(Tango::Attribute &attr) entering... " << endl;
/*----- PROTECTED REGION ID(ConexAgp::read_TargetPosition) ENABLED START -----*/
// Set the attribute value
attr.set_value(attr_TargetPosition_read);
/*----- PROTECTED REGION END -----*/ // ConexAgp::read_TargetPosition
}
//--------------------------------------------------------
/**
* Method : ConexAgp::add_dynamic_attributes()
* Description : Create the dynamic attributes if any
* for specified device.
*/
//--------------------------------------------------------
void ConexAgp::add_dynamic_attributes()
{
/*----- PROTECTED REGION ID(ConexAgp::add_dynamic_attributes) ENABLED START -----*/
// Add your own code to create and add dynamic attributes if any
/*----- PROTECTED REGION END -----*/ // ConexAgp::add_dynamic_attributes
}
//--------------------------------------------------------
/**
* Command Homing related method
* Description:
*
*/
//--------------------------------------------------------
void ConexAgp::homing()
{
DEBUG_STREAM << "ConexAgp::Homing() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::homing) ENABLED START -----*/
// Add your own code
string resp("NO");
SendReceive(HOMING, resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::homing
}
//--------------------------------------------------------
/**
* Command Stop related method
* Description:
*
*/
//--------------------------------------------------------
void ConexAgp::stop()
{
DEBUG_STREAM << "ConexAgp::Stop() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::stop) ENABLED START -----*/
// Add your own code
string resp("NO");
SendReceive(STOP_MOTION, resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::stop
}
//--------------------------------------------------------
/**
* Command GetVersion related method
* Description:
*
* @returns
*/
//--------------------------------------------------------
Tango::DevString ConexAgp::get_version()
{
Tango::DevString argout;
DEBUG_STREAM << "ConexAgp::GetVersion() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::get_version) ENABLED START -----*/
// Add your own code
string resp;
SendReceive(GET_VERSION, resp);
argout = Tango::string_dup(resp.c_str());
/*----- PROTECTED REGION END -----*/ // ConexAgp::get_version
return argout;
}
//--------------------------------------------------------
/**
* Command Reset related method
* Description: Reset controller
*
*/
//--------------------------------------------------------
void ConexAgp::reset()
{
DEBUG_STREAM << "ConexAgp::Reset() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::reset) ENABLED START -----*/
// Add your own code
string resp("NO");
SendReceive(RESET_CONTROLLER, resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::reset
}
//--------------------------------------------------------
/**
* Command Backward related method
* Description:
*
* @param argin
*/
//--------------------------------------------------------
void ConexAgp::backward(Tango::DevDouble argin)
{
DEBUG_STREAM << "ConexAgp::Backward() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::backward) ENABLED START -----*/
// Add your own code
string resp("NO");
stringstream cmd;
cmd << MOVE_RELATIVE << -argin;
SendReceive(cmd.str(), resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::backward
}
//--------------------------------------------------------
/**
* Command Forward related method
* Description:
*
* @param argin
*/
//--------------------------------------------------------
void ConexAgp::forward(Tango::DevDouble argin)
{
DEBUG_STREAM << "ConexAgp::Forward() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::forward) ENABLED START -----*/
// Add your own code
string resp("NO");
stringstream cmd;
cmd << MOVE_RELATIVE << argin;
SendReceive(cmd.str(), resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::forward
}
//--------------------------------------------------------
/**
* Command Enable related method
* Description:
*
*/
//--------------------------------------------------------
void ConexAgp::enable()
{
DEBUG_STREAM << "ConexAgp::Enable() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::enable) ENABLED START -----*/
// Add your own code
string resp("NO");
stringstream cmd;
cmd << ENABLE << "1";
SendReceive(cmd.str(), resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::enable
}
//--------------------------------------------------------
/**
* Command Disable related method
* Description:
*
*/
//--------------------------------------------------------
void ConexAgp::disable()
{
DEBUG_STREAM << "ConexAgp::Disable() - " << device_name << endl;
/*----- PROTECTED REGION ID(ConexAgp::disable) ENABLED START -----*/
// Add your own code
string resp("NO");
stringstream cmd;
cmd << ENABLE << "0";
SendReceive(cmd.str(), resp);
/*----- PROTECTED REGION END -----*/ // ConexAgp::disable
}
//--------------------------------------------------------
/**
* Method : ConexAgp::add_dynamic_commands()
* Description : Create the dynamic commands if any
* for specified device.
*/
//--------------------------------------------------------
void ConexAgp::add_dynamic_commands()
{
/*----- PROTECTED REGION ID(ConexAgp::add_dynamic_commands) ENABLED START -----*/
// Add your own code to create and add dynamic commands if any
/*----- PROTECTED REGION END -----*/ // ConexAgp::add_dynamic_commands
}
/*----- PROTECTED REGION ID(ConexAgp::namespace_ending) ENABLED START -----*/
// Additional Methods
void ConexAgp::SendReceive(const string & command, string & response)
{
char cmd[64];
memset(cmd,0,64);
sprintf(cmd, "%d%s",controllerAddr,command.c_str());
mutex->lock();
#if 0
//emptying buffer
try
{
Tango::DeviceAttribute dattrin("Timeout",(Tango::DevLong)1);
device_proxy->write_attribute(dattrin);
Tango::DevLong len = 100;
Tango::DeviceData din2, dout;
din2 << len;
const Tango::DevVarCharArray *dtr;
dout = device_proxy->command_inout("Read", din2);
dout >> dtr;
}
catch(Tango::DevFailed &e)
{
}
catch(...)
{
}
#endif
try
{
if(!legacySerial)
{
Tango::DeviceAttribute dattrin("Timeout",(Tango::DevLong)5);
device_proxy->write_attribute(dattrin);
Tango::DevVarCharArray dvca;
dvca.length(strlen(cmd)+2);
for (unsigned int i=0; i<strlen(cmd); ++i)
dvca[i] = cmd[i];
dvca[strlen(cmd)] = '\r';
dvca[strlen(cmd)+1] = '\n';
Tango::DeviceData din;
din << dvca;
device_proxy->command_inout("Write", din);
}
else
{
char outbuf[256];
long write_len=strlen(cmd)+2;
strcpy(outbuf,cmd);
strcat(outbuf,"\r\n");
write_serial(outbuf,write_len);
}
DEBUG_STREAM << __func__<<": sent command: " << cmd;
if(response != "NO")
{
Tango::DeviceData din2, dout;
if(!legacySerial)
{
Tango::DeviceAttribute dattrin("Timeout",(Tango::DevLong)1);
device_proxy->write_attribute(dattrin);
Tango::DevVarCharArray *delim = new Tango::DevVarCharArray();
delim->length(1);
//(*delim)[0] = '\n';
(*delim)[0] = '\r'; //sometimes \n after \r is missing
din2 << delim;
}
usleep(60000); //60ms
bool parsing_error = false;
int count = 0;
do
{
char cmd_parsing[64];
strncpy(cmd_parsing,cmd, 64);
count++;
string resp;
if(!legacySerial)
{
const Tango::DevVarCharArray *dtr;
dout = device_proxy->command_inout("ReadUntil", din2);
dout >> dtr;
for (unsigned int i=0; i<dtr->length(); ++i)
resp += (*dtr)[i];
}
else
{
long read_len;
char inbuf[256];
memset(inbuf,0,256);
read_serial(inbuf,read_len);
for (unsigned int i=0; i<read_len; ++i)
resp += inbuf[i];
}
DEBUG_STREAM << __func__<<": read response='"<<resp << "'";
char parsed_resp[256];
//strcat(cmd, "%[^\r]\n");
if(cmd_parsing[strlen(cmd_parsing)-1] == '?')
cmd_parsing[strlen(cmd_parsing)-1] = 0;
size_t pos = resp.find(cmd_parsing);
if(pos != string::npos && pos > 0)
{
resp = resp.substr(pos);
DEBUG_STREAM << __func__<<": 2! pos="<<pos<<" read response='"<<resp << "'";
}
strcat(cmd_parsing, "%[^\r]");
int ret = sscanf (resp.c_str(), cmd_parsing, parsed_resp);
if(ret == 1)
{
response = string(parsed_resp);
parsing_error = false;
break;
}
else
{
INFO_STREAM << __func__ << ": ERROR parsing response";
parsing_error = true;
}
} while(parsing_error && count < 2);
}
else
{
response = string("");
}
}
catch(Tango::DevFailed &e)
{
stringstream err;
err << "Error sending command '" << command << "': '" << e.errors[0].desc << "'";
INFO_STREAM << __func__ << ": " << err.str();
response = string("");
set_state(Tango::FAULT);
set_status(err.str());
usleep(100000);
}
catch(...)
{
INFO_STREAM << __func__<<": NON Tango Exception sending command";
}
mutex->unlock();
}
void ConexAgp::SendReceive(const string & command, int & val)
{
string response;
SendReceive(command, response);
stringstream tmp;
tmp << response;
tmp >> val;
}
void ConexAgp::SendReceive(const string & command, double & val)
{
string response;
SendReceive(command, response);
stringstream tmp;
tmp << response;
tmp >> val;
}
state_desc ConexAgp::make_state_desc(Tango::DevState _state, string _status)
{
state_desc sd = {_state, _status};
return sd;
}
//+------------------------------------------------------------------
//
// method: ConexAgp::write_serial
//
// description: method to execute "write_serial"
// Write a string to serial interface
//
//-------------------------------------------------------------------
void ConexAgp::write_serial(char *write_str, long size)
//void Chiller::write_serial(string write_str)
{
DEBUG_STREAM << "ConexAgp::write_serial(): entering... =" << string(write_str) <<"size="<<size<< endl;
// Add your own code to control device here
Tango::DeviceData Din,Din2;
int i;
Tango::DevLong flush = 2;
Tango::DevVarCharArray *input = new Tango::DevVarCharArray();
input->length(size);
// input->length(write_str.length());
stringstream temp;
// for (int i=0; i < write_str.length(); i++)
for (long i=0; i < size; i++)
{
//DEBUG_STREAM << "ConexAgp::write_serial(): looping i=" << i<< endl;
//(*input)[i] = (unsigned char) write_str.at(i);
(*input)[i] = write_str[i];
temp << showbase << hex << (int)(*input)[i] << " ";
}
//DEBUG_STREAM << "ConexAgp::write_serial(): writing=" << write_str << "=" << temp.str() << endl;
DEBUG_STREAM << "ConexAgp::write_serial(): writing=" << temp.str() << endl;
Din << input;
device_proxy->command_inout("DevSerWriteChar",Din);
/* Din2 << flush;
device_proxy->command_inout("DevSerFlush",Din2);*/
}
//+------------------------------------------------------------------
//
// method: ConexAgp::read_serial
//
// description: method to execute "read_serial"
// Read from serial interface
//
//-------------------------------------------------------------------
void ConexAgp::read_serial(char *read_str, long &read_len)
{
DEBUG_STREAM << "ConexAgp::read_serial(): entering... !" << endl;
// Add your own code to control device here
Tango::DevVarLongStringArray strin;
string input, strout, strout_filt;
Tango::DeviceData Din,Dout;
const Tango::DevVarCharArray *out;
//long attr_read_param = SL_RAW;
long attr_read_param;
//attr_read_param = SAALEN << 8;
//attr_read_param = 1 << 8; //provo a leggere solo un carattere
//attr_read_param |= SL_NCHAR;
attr_read_param = SL_LINE;
//attr_read_param = 2 << 8; //provo a leggere per 2 tentativi
//attr_read_param |= SL_RETRY;
long temp_len;
int i;
Din << attr_read_param;
Dout = device_proxy->command_inout("DevSerReadChar",Din);
if(!Dout.is_empty())
Dout >> out;
else
{
//set_state(Tango::FAULT);
//set_status("Errors from serialdevice " + serialdevice);
Tango::Except::throw_exception(
(const char *) "Serialline timeout",
(const char *) "No data from serialline",
(const char *) "ConexAgp::read_serial()", Tango::ERR);
}
memset(read_str,0,256);
temp_len = out->length();
if(temp_len > 256)
{
WARN_STREAM << "ConexAgp::read_serial(): read buffer overflow, " <<
temp_len << " > " << 256 << endl;
temp_len = 256;
}
read_len = temp_len;
stringstream temp;
for (int i = 0; i < temp_len; i++)
{
read_str[i] = (*out)[i];
temp << showbase << hex << (int)(*out)[i] << " ";
}
DEBUG_STREAM << "ConexAgp::read_serial(): read=" << temp.str() << endl;
}
// //--------------------------------------------------------
// /**
// * Command Backward_Y related method
// * Description:
// *
// * @param argin
// */
// //--------------------------------------------------------
// void ConexAgp::backward__y(Tango::DevDouble argin)
// {
// DEBUG_STREAM << "ConexAgp::Backward_Y() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_RELATIVE << "V" << -argin;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command Forward_Y related method
// * Description:
// *
// * @param argin
// */
// //--------------------------------------------------------
// void ConexAgp::forward__y(Tango::DevDouble argin)
// {
// DEBUG_STREAM << "ConexAgp::Forward_Y() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_RELATIVE << "V" << argin;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command Move_X1 related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::move__x1()
// {
// DEBUG_STREAM << "ConexAgp::Move_X1() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_ABSOLUTE << "U" << *attr_Position_X1_read;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command Move_X2 related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::move__x2()
// {
// DEBUG_STREAM << "ConexAgp::Move_X2() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_ABSOLUTE << "U" << *attr_Position_X2_read;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command Move_XY_home related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::move__xy_home()
// {
// DEBUG_STREAM << "ConexAgp::Move_XY_home() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_ABSOLUTE << "U" << *attr_Position_X_home_read;
// SendReceive(cmd.str(), resp);
// resp = string("NO");
// cmd.str("");
// cmd << MOVE_ABSOLUTE << "V" << *attr_Position_Y_home_read;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command Move_Y1 related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::move__y1()
// {
// DEBUG_STREAM << "ConexAgp::Move_Y1() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_ABSOLUTE << "V" << *attr_Position_Y1_read;
// SendReceive(cmd.str(), resp);
// }
// //--------------------------------------------------------
// /**
// * Command Move_Y2 related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::move__y2()
// {
// DEBUG_STREAM << "ConexAgp::Move_Y2() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_ABSOLUTE << "V" << *attr_Position_Y2_read;
// SendReceive(cmd.str(), resp);
// }
// //--------------------------------------------------------
// /**
// * Command SetCPFirst related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::set_cpfirst()
// {
// DEBUG_STREAM << "ConexAgp::SetCPFirst() - " << device_name << endl;
//
// // Add your own code
// *attr_Position_X1_read = *attr_Position_X_read;
// *attr_Position_Y1_read = *attr_Position_Y_read;
// Tango::MultiAttribute *attr_list;
// try
// {
// attr_list = get_device_attr();
// Tango::WAttribute &attr_x = attr_list->get_w_attr_by_name ("Position_X1");
// attr_x.set_write_value(*attr_Position_X1_read);
// Tango::WAttribute &attr_y = attr_list->get_w_attr_by_name ("Position_Y1");
// attr_y.set_write_value(*attr_Position_Y1_read);
// } catch(...)
// {
// }
//
// }
// //--------------------------------------------------------
// /**
// * Command SetCPSecond related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::set_cpsecond()
// {
// DEBUG_STREAM << "ConexAgp::SetCPSecond() - " << device_name << endl;
//
// // Add your own code
// *attr_Position_X2_read = *attr_Position_X_read;
// *attr_Position_Y2_read = *attr_Position_Y_read;
// Tango::MultiAttribute *attr_list;
// try
// {
// attr_list = get_device_attr();
// Tango::WAttribute &attr_x = attr_list->get_w_attr_by_name ("Position_X2");
// attr_x.set_write_value(*attr_Position_X2_read);
// Tango::WAttribute &attr_y = attr_list->get_w_attr_by_name ("Position_Y2");
// attr_y.set_write_value(*attr_Position_Y2_read);
// } catch(...)
// {
// }
//
// }
// //--------------------------------------------------------
// /**
// * Command SetCPHome related method
// * Description:
// *
// */
// //--------------------------------------------------------
// void ConexAgp::set_cphome()
// {
// DEBUG_STREAM << "ConexAgp::SetCPHome() - " << device_name << endl;
//
// // Add your own code
// *attr_Position_X_home_read = *attr_Position_X_read;
// *attr_Position_Y_home_read = *attr_Position_Y_read;
// Tango::MultiAttribute *attr_list;
// try
// {
// attr_list = get_device_attr();
// Tango::WAttribute &attr_x = attr_list->get_w_attr_by_name ("Position_X_home");
// attr_x.set_write_value(*attr_Position_X_home_read);
// Tango::WAttribute &attr_y = attr_list->get_w_attr_by_name ("Position_Y_home");
// attr_y.set_write_value(*attr_Position_Y_home_read);
// } catch(...)
// {
// }
//
// }
// //--------------------------------------------------------
// /**
// * Command StepBackward_X related method
// * Description:
// *
// * @param argin
// */
// //--------------------------------------------------------
// void ConexAgp::step_backward__x(Tango::DevDouble argin)
// {
// DEBUG_STREAM << "ConexAgp::StepBackward_X() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << STEP_RELATIVE << "U" << -argin;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command StepBackward_Y related method
// * Description:
// *
// * @param argin
// */
// //--------------------------------------------------------
// void ConexAgp::step_backward__y(Tango::DevDouble argin)
// {
// DEBUG_STREAM << "ConexAgp::StepBackward_Y() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << STEP_RELATIVE << "V" << -argin;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command StepForward_X related method
// * Description:
// *
// * @param argin
// */
// //--------------------------------------------------------
// void ConexAgp::step_forward__x(Tango::DevDouble argin)
// {
// DEBUG_STREAM << "ConexAgp::StepForward_X() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << STEP_RELATIVE << "U" << argin;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Command StepForward_Y related method
// * Description:
// *
// * @param argin
// */
// //--------------------------------------------------------
// void ConexAgp::step_forward__y(Tango::DevDouble argin)
// {
// DEBUG_STREAM << "ConexAgp::StepForward_Y() - " << device_name << endl;
//
// // Add your own code
// string resp("NO");
// stringstream cmd;
// cmd << STEP_RELATIVE << "V" << argin;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Position_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Position_Y(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Position_Y(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Position_Y_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Position_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Position_Y(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Position_Y(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// string resp("NO");
// stringstream cmd;
// cmd << MOVE_ABSOLUTE << "V" << w_val;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Position_X1 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Position_X1(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Position_X1(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Position_X1_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Position_X1 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Position_X1(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Position_X1(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// *attr_Position_X1_read = w_val;
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Position_X2 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Position_X2(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Position_X2(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Position_X2_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Position_X2 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Position_X2(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Position_X2(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// *attr_Position_X2_read = w_val;
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Position_X_home related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Position_X_home(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Position_X_home(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Position_X_home_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Position_X_home related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Position_X_home(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Position_X_home(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// *attr_Position_X_home_read = w_val;
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Position_Y1 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Position_Y1(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Position_Y1(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Position_Y1_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Position_Y1 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Position_Y1(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Position_Y1(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// *attr_Position_Y1_read = w_val;
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Position_Y2 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Position_Y2(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Position_Y2(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Position_Y2_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Position_Y2 related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Position_Y2(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Position_Y2(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// *attr_Position_Y2_read = w_val;
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Position_Y_home related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Position_Y_home(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Position_Y_home(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Position_Y_home_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Position_Y_home related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Position_Y_home(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Position_Y_home(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// *attr_Position_Y_home_read = w_val;
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Velocity_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Velocity_Y(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Velocity_Y(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Velocity_Y_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Velocity_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Velocity_Y(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Velocity_Y(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// Tango::Except::throw_exception(
// (const char *) "Not supported",
// (const char *) "Command not supported",
// (const char *) __func__, Tango::ERR);
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute StepSizePos_X related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_StepSizePos_X(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_StepSizePos_X(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_StepSizePos_X_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute StepSizePos_X related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_StepSizePos_X(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_StepSizePos_X(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// if(w_val <= 0)
// {
// Tango::Except::throw_exception(
// (const char *) "Bad value",
// (const char *) "Positive value has to be specified",
// (const char *) __func__, Tango::ERR);
// }
// string resp("NO");
// stringstream cmd;
// cmd << SET_STEP_SIZE << "U" << w_val;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute StepSizePos_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_StepSizePos_Y(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_StepSizePos_Y(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_StepSizePos_Y_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute StepSizePos_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_StepSizePos_Y(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_StepSizePos_Y(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// if(w_val <= 0)
// {
// Tango::Except::throw_exception(
// (const char *) "Bad value",
// (const char *) "Positive value has to be specified",
// (const char *) __func__, Tango::ERR);
// }
// string resp("NO");
// stringstream cmd;
// cmd << SET_STEP_SIZE << "V" << w_val;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute StepSizeNeg_X related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_StepSizeNeg_X(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_StepSizeNeg_X(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_StepSizeNeg_X_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute StepSizeNeg_X related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_StepSizeNeg_X(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_StepSizeNeg_X(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// if(w_val <= 0)
// {
// Tango::Except::throw_exception(
// (const char *) "Bad value",
// (const char *) "Positive value has to be specified",
// (const char *) __func__, Tango::ERR);
// }
// string resp("NO");
// stringstream cmd;
// cmd << SET_STEP_SIZE << "U" << -w_val;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute StepSizeNeg_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_StepSizeNeg_Y(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_StepSizeNeg_Y(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_StepSizeNeg_Y_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute StepSizeNeg_Y related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_StepSizeNeg_Y(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_StepSizeNeg_Y(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
// if(w_val <= 0)
// {
// Tango::Except::throw_exception(
// (const char *) "Bad value",
// (const char *) "Positive value has to be specified",
// (const char *) __func__, Tango::ERR);
// }
// string resp("NO");
// stringstream cmd;
// cmd << SET_STEP_SIZE << "V" << -w_val;
// SendReceive(cmd.str(), resp);
//
// }
// //--------------------------------------------------------
// /**
// * Read attribute Velocity related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::read_Velocity(Tango::Attribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::read_Velocity(Tango::Attribute &attr) entering... " << endl;
// // Set the attribute value
// attr.set_value(attr_Velocity_read);
//
// }
// //--------------------------------------------------------
// /**
// * Write attribute Velocity related method
// * Description:
// *
// * Data type: Tango::DevDouble
// * Attr type: Scalar
// */
// //--------------------------------------------------------
// void ConexAgp::write_Velocity(Tango::WAttribute &attr)
// {
// DEBUG_STREAM << "ConexAgp::write_Velocity(Tango::WAttribute &attr) entering... " << endl;
// // Retrieve write value
// Tango::DevDouble w_val;
// attr.get_write_value(w_val);
//
//
// }
/*----- PROTECTED REGION END -----*/ // ConexAgp::namespace_ending
} // namespace