From f44b9483fd4f087e18ecec91bd28763e64d6cae1 Mon Sep 17 00:00:00 2001
From: Claudio Scafuri <claudio.scafuri@elettra.eu>
Date: Fri, 1 Mar 2024 14:05:10 +0100
Subject: [PATCH] state machine and basics falut/reset/off handling
---
src/SimulatedE2PS.cpp | 13 +++-
src/SimulatedE2PS.xmi | 35 +++++++++++
src/SimulatedE2PSStateMachine.cpp | 99 ++++++++++++++++++++++++++-----
3 files changed, 132 insertions(+), 15 deletions(-)
diff --git a/src/SimulatedE2PS.cpp b/src/SimulatedE2PS.cpp
index 80c3f7b..83025f5 100644
--- a/src/SimulatedE2PS.cpp
+++ b/src/SimulatedE2PS.cpp
@@ -440,6 +440,10 @@ void SimulatedE2PS::reset()
/* clang-format on */
// Add your own code
+ if(get_state() == Tango::FAULT){
+ set_state(Tango::OFF);
+ push_change_event("State");
+ }
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::reset
@@ -494,7 +498,14 @@ void SimulatedE2PS::fault()
/* clang-format on */
// Add your own code
-
+ _current_read = 0.0;
+ _current = 0.0;
+ _voltage = 0.0;
+ attr_current->set_write_value(_current);
+ push_change_event("current",&_current_read);
+ push_change_event("currentSet",&_current);
+ set_state(Tango::FAULT);
+ push_change_event("State");
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::fault
}
diff --git a/src/SimulatedE2PS.xmi b/src/SimulatedE2PS.xmi
index eb8255e..90c8112 100644
--- a/src/SimulatedE2PS.xmi
+++ b/src/SimulatedE2PS.xmi
@@ -41,6 +41,8 @@
<type xsi:type="pogoDsl:VoidType"/>
</argout>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ <excludedStates>UNKNOWN</excludedStates>
+ <excludedStates>FAULT</excludedStates>
</commands>
<commands name="Off" description="Switch power supply OFF." execMethod="off" displayLevel="OPERATOR" polledPeriod="0" isDynamic="false">
<argin description="">
@@ -50,6 +52,7 @@
<type xsi:type="pogoDsl:VoidType"/>
</argout>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ <excludedStates>UNKNOWN</excludedStates>
</commands>
<commands name="Reset" description="Reset the powersupply to a well known state." execMethod="reset" displayLevel="OPERATOR" polledPeriod="0" isDynamic="false">
<argin description="">
@@ -59,6 +62,7 @@
<type xsi:type="pogoDsl:VoidType"/>
</argout>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ <excludedStates>UNKNOWN</excludedStates>
</commands>
<commands name="StartCycling" description="" execMethod="start_cycling" displayLevel="OPERATOR" polledPeriod="0" isDynamic="false">
<argin description="">
@@ -68,6 +72,8 @@
<type xsi:type="pogoDsl:VoidType"/>
</argout>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ <excludedStates>UNKNOWN</excludedStates>
+ <excludedStates>FAULT</excludedStates>
</commands>
<commands name="Abort" description="stop ramp or cycling" execMethod="abort" displayLevel="OPERATOR" polledPeriod="0" isDynamic="false">
<argin description="">
@@ -77,6 +83,8 @@
<type xsi:type="pogoDsl:VoidType"/>
</argout>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ <excludedStates>UNKNOWN</excludedStates>
+ <excludedStates>FAULT</excludedStates>
</commands>
<commands name="fault" description="Force a simulated faulty condtion" execMethod="fault" displayLevel="EXPERT" polledPeriod="0" isDynamic="false">
<argin description="">
@@ -94,6 +102,13 @@
<dataReadyEvent fire="false" libCheckCriteria="true"/>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
<properties description="The powersupply current setting in amps" label="current" unit="A" standardUnit="1" displayUnit="A" format="%6.4f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+ <readExcludedStates>UNKNOWN</readExcludedStates>
+ <readExcludedStates>FAULT</readExcludedStates>
+ <writeExcludedStates>UNKNOWN</writeExcludedStates>
+ <writeExcludedStates>FAULT</writeExcludedStates>
+ <writeExcludedStates>RUNNING</writeExcludedStates>
+ <writeExcludedStates>MOVING</writeExcludedStates>
+ <writeExcludedStates>OFF</writeExcludedStates>
</attributes>
<attributes name="voltage" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="" maxY="" allocReadMember="false" isDynamic="false">
<dataType xsi:type="pogoDsl:DoubleType"/>
@@ -102,6 +117,7 @@
<dataReadyEvent fire="false" libCheckCriteria="true"/>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
<properties description="The powersupply voltage in volts." label="" unit="V" standardUnit="1" displayUnit="V" format="%6.4f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+ <readExcludedStates>UNKNOWN</readExcludedStates>
</attributes>
<attributes name="currentSet" attType="Scalar" rwType="READ" displayLevel="OPERATOR" polledPeriod="0" maxX="" maxY="" allocReadMember="false" isDynamic="false">
<dataType xsi:type="pogoDsl:DoubleType"/>
@@ -110,7 +126,26 @@
<dataReadyEvent fire="false" libCheckCriteria="true"/>
<status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
<properties description="The current set value as stored in the powersupply." label="" unit="A" standardUnit="1" displayUnit="A" format="%6.4f" maxValue="" minValue="" maxAlarm="" minAlarm="" maxWarning="" minWarning="" deltaTime="" deltaValue=""/>
+ <readExcludedStates>UNKNOWN</readExcludedStates>
</attributes>
+ <states name="UNKNOWN" description="initialization failed or incomlete">
+ <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ </states>
+ <states name="ON" description="power supply on">
+ <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ </states>
+ <states name="FAULT" description="power supply in fault - not sourcing cuurent">
+ <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ </states>
+ <states name="RUNNING" description="magnet cycling running">
+ <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ </states>
+ <states name="MOVING" description="output current changing">
+ <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ </states>
+ <states name="OFF" description="power supply off , not sourcing current">
+ <status abstract="false" inherited="false" concrete="true" concreteHere="true"/>
+ </states>
<preferences docHome="./doc_html" makefileHome="/usr/local/tango-9.3.6/share/pogo/preferences"/>
</classes>
</pogoDsl:PogoSystem>
diff --git a/src/SimulatedE2PSStateMachine.cpp b/src/SimulatedE2PSStateMachine.cpp
index 3c22fad..7861495 100644
--- a/src/SimulatedE2PSStateMachine.cpp
+++ b/src/SimulatedE2PSStateMachine.cpp
@@ -36,8 +36,14 @@
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::SimulatedE2PSStateMachine.cpp
//================================================================
-// States | Description
+// States | Description
//================================================================
+// UNKNOWN | initialization failed or incomlete
+// ON | power supply on
+// FAULT | power supply in fault - not sourcing cuurent
+// RUNNING | magnet cycling running
+// MOVING | output current changing
+// OFF | power supply off , not sourcing current
namespace SimulatedE2PS_ns
@@ -54,17 +60,41 @@ namespace SimulatedE2PS_ns
//--------------------------------------------------------
bool SimulatedE2PS::is_current_allowed(TANGO_UNUSED(Tango::AttReqType type))
{
- // Not any excluded states for current attribute in Write access.
- /*----- PROTECTED REGION ID(SimulatedE2PS::currentStateAllowed_WRITE) ENABLED START -----*/
+ // Check access type.
+ if ( type!=Tango::READ_REQ )
+ {
+ // Compare device state with not allowed states for WRITE
+ if (get_state()==Tango::UNKNOWN ||
+ get_state()==Tango::FAULT ||
+ get_state()==Tango::RUNNING ||
+ get_state()==Tango::MOVING ||
+ get_state()==Tango::OFF)
+ {
+ /*----- PROTECTED REGION ID(SimulatedE2PS::currentStateAllowed_WRITE) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::currentStateAllowed_WRITE
+ return false;
+ }
+ return true;
+ }
+ else
- // Not any excluded states for current attribute in read access.
- /*----- PROTECTED REGION ID(SimulatedE2PS::currentStateAllowed_READ) ENABLED START -----*/
+ // Check access type.
+ if ( type==Tango::READ_REQ )
+ {
+ // Compare device state with not allowed states for READ
+ if (get_state()==Tango::UNKNOWN ||
+ get_state()==Tango::FAULT)
+ {
+ /*----- PROTECTED REGION ID(SimulatedE2PS::currentStateAllowed_READ) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::currentStateAllowed_READ
+ return false;
+ }
+ return true;
+ }
return true;
}
@@ -77,11 +107,20 @@ bool SimulatedE2PS::is_current_allowed(TANGO_UNUSED(Tango::AttReqType type))
bool SimulatedE2PS::is_voltage_allowed(TANGO_UNUSED(Tango::AttReqType type))
{
- // Not any excluded states for voltage attribute in read access.
- /*----- PROTECTED REGION ID(SimulatedE2PS::voltageStateAllowed_READ) ENABLED START -----*/
+ // Check access type.
+ if ( type==Tango::READ_REQ )
+ {
+ // Compare device state with not allowed states for READ
+ if (get_state()==Tango::UNKNOWN)
+ {
+ /*----- PROTECTED REGION ID(SimulatedE2PS::voltageStateAllowed_READ) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::voltageStateAllowed_READ
+ return false;
+ }
+ return true;
+ }
return true;
}
@@ -94,11 +133,20 @@ bool SimulatedE2PS::is_voltage_allowed(TANGO_UNUSED(Tango::AttReqType type))
bool SimulatedE2PS::is_currentSet_allowed(TANGO_UNUSED(Tango::AttReqType type))
{
- // Not any excluded states for currentSet attribute in read access.
- /*----- PROTECTED REGION ID(SimulatedE2PS::currentSetStateAllowed_READ) ENABLED START -----*/
+ // Check access type.
+ if ( type==Tango::READ_REQ )
+ {
+ // Compare device state with not allowed states for READ
+ if (get_state()==Tango::UNKNOWN)
+ {
+ /*----- PROTECTED REGION ID(SimulatedE2PS::currentSetStateAllowed_READ) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::currentSetStateAllowed_READ
+ return false;
+ }
+ return true;
+ }
return true;
}
@@ -115,11 +163,16 @@ bool SimulatedE2PS::is_currentSet_allowed(TANGO_UNUSED(Tango::AttReqType type))
//--------------------------------------------------------
bool SimulatedE2PS::is_On_allowed(TANGO_UNUSED(const CORBA::Any &any))
{
- // Not any excluded states for On command.
+ // Compare device state with not allowed states.
+ if (get_state()==Tango::UNKNOWN ||
+ get_state()==Tango::FAULT)
+ {
/*----- PROTECTED REGION ID(SimulatedE2PS::OnStateAllowed) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::OnStateAllowed
+ return false;
+ }
return true;
}
@@ -131,11 +184,15 @@ bool SimulatedE2PS::is_On_allowed(TANGO_UNUSED(const CORBA::Any &any))
//--------------------------------------------------------
bool SimulatedE2PS::is_Off_allowed(TANGO_UNUSED(const CORBA::Any &any))
{
- // Not any excluded states for Off command.
+ // Compare device state with not allowed states.
+ if (get_state()==Tango::UNKNOWN)
+ {
/*----- PROTECTED REGION ID(SimulatedE2PS::OffStateAllowed) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::OffStateAllowed
+ return false;
+ }
return true;
}
@@ -147,11 +204,15 @@ bool SimulatedE2PS::is_Off_allowed(TANGO_UNUSED(const CORBA::Any &any))
//--------------------------------------------------------
bool SimulatedE2PS::is_Reset_allowed(TANGO_UNUSED(const CORBA::Any &any))
{
- // Not any excluded states for Reset command.
+ // Compare device state with not allowed states.
+ if (get_state()==Tango::UNKNOWN)
+ {
/*----- PROTECTED REGION ID(SimulatedE2PS::ResetStateAllowed) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::ResetStateAllowed
+ return false;
+ }
return true;
}
@@ -163,11 +224,16 @@ bool SimulatedE2PS::is_Reset_allowed(TANGO_UNUSED(const CORBA::Any &any))
//--------------------------------------------------------
bool SimulatedE2PS::is_StartCycling_allowed(TANGO_UNUSED(const CORBA::Any &any))
{
- // Not any excluded states for StartCycling command.
+ // Compare device state with not allowed states.
+ if (get_state()==Tango::UNKNOWN ||
+ get_state()==Tango::FAULT)
+ {
/*----- PROTECTED REGION ID(SimulatedE2PS::StartCyclingStateAllowed) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::StartCyclingStateAllowed
+ return false;
+ }
return true;
}
@@ -179,11 +245,16 @@ bool SimulatedE2PS::is_StartCycling_allowed(TANGO_UNUSED(const CORBA::Any &any))
//--------------------------------------------------------
bool SimulatedE2PS::is_Abort_allowed(TANGO_UNUSED(const CORBA::Any &any))
{
- // Not any excluded states for Abort command.
+ // Compare device state with not allowed states.
+ if (get_state()==Tango::UNKNOWN ||
+ get_state()==Tango::FAULT)
+ {
/*----- PROTECTED REGION ID(SimulatedE2PS::AbortStateAllowed) ENABLED START -----*/
/* clang-format on */
/* clang-format off */
/*----- PROTECTED REGION END -----*/ // SimulatedE2PS::AbortStateAllowed
+ return false;
+ }
return true;
}
--
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