diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..8d14a0b49684f75da7001bedc6f54361d54f6689
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,7 @@
+NAME_SRV = aml-srv
+
+CXXFLAGS =
+LDFLAGS =
+
+
+include ../../../cs/ds/makefiles/Make-9.3.3.in
diff --git a/src/Aml.cpp b/src/Aml.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4e1549c0e3339007283e7039f031d8657a6cb7b4
--- /dev/null
+++ b/src/Aml.cpp
@@ -0,0 +1,1494 @@
+static const char *RcsId = "$Header: $";
+//+=============================================================================
+//
+// file : Aml.cpp
+//
+// description : C++ source for the Aml 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
+// Aml are implemented in this file.
+//
+// project : TANGO Device Server
+//
+// $Author: $
+//
+// $Revision: $
+//
+// $Log: $
+//
+// copyleft : European Synchrotron Radiation Facility
+// BP 220, Grenoble 38043
+// 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()
+// Axis1_MoveRelative | axis1__move_relative()
+// Axis2_MoveRelative | axis2__move_relative()
+// Axis1_MoveAbsolute | axis1__move_absolute()
+// Axis2_MoveAbsolute | axis2__move_absolute()
+// InitMotor | init_motor()
+// Stop | stop()
+// GetPosition | get_position()
+//
+//===================================================================
+
+
+#include <tango.h>
+#include <Aml.h>
+#include <AmlClass.h>
+
+namespace Aml_ns
+{
+
+//+----------------------------------------------------------------------------
+//
+// method : Aml::Aml(string &s)
+//
+// description : constructor for simulated Aml
+//
+// in : - cl : Pointer to the DeviceClass object
+// - s : Device name
+//
+//-----------------------------------------------------------------------------
+Aml::Aml(Tango::DeviceClass *cl,string &s)
+:Tango::Device_4Impl(cl,s.c_str())
+{
+ device = 0;
+ init_device();
+}
+
+Aml::Aml(Tango::DeviceClass *cl,const char *s)
+:Tango::Device_4Impl(cl,s)
+{
+ device = 0;
+ init_device();
+}
+
+Aml::Aml(Tango::DeviceClass *cl,const char *s,const char *d)
+:Tango::Device_4Impl(cl,s,d)
+{
+ device = 0;
+ init_device();
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::delete_device()
+//
+// description : will be called at device destruction or at init command.
+//
+//-----------------------------------------------------------------------------
+void Aml::delete_device()
+{
+ // Delete device's allocated object
+ if (device > 0)
+ close(device);
+ device = 0;
+
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : Aml::init_device()
+//
+// description : will be called at device initialization.
+//
+//-----------------------------------------------------------------------------
+void Aml::init_device()
+{
+ INFO_STREAM << "Aml::Aml() create device " << device_name << endl;
+
+ // Initialise variables to default values
+ //--------------------------------------------
+ get_device_property();
+
+ initSerialPort();
+ init_motor();
+
+ Motor1Name = logicalName + axis1_Name;
+ Motor2Name = logicalName + axis2_Name;
+
+ errorMessage="";
+ errorNumber=0;
+
+ logMessage="";
+}
+
+
+//+----------------------------------------------------------------------------
+//
+// method : Aml::get_device_property()
+//
+// description : Read the device properties from database.
+//
+//-----------------------------------------------------------------------------
+void Aml::get_device_property()
+{
+ // Initialize your default values here (if not done with POGO).
+ //------------------------------------------------------------------
+
+ // Read device properties from database.(Automatic code generation)
+ //------------------------------------------------------------------
+ Tango::DbData dev_prop;
+ dev_prop.push_back(Tango::DbDatum("LogicalName"));
+ dev_prop.push_back(Tango::DbDatum("SerialPort"));
+ dev_prop.push_back(Tango::DbDatum("ControllerVersion"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_Name"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_MinStepRate1"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_MinStepRate2"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_MinStepRate3"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_PhaseCurrent"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_Ramp"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_StartStopSpeed"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_SleewSpeed"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_Range"));
+ dev_prop.push_back(Tango::DbDatum("Axis1_SetAccelerAndRetardPars"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_Name"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_MinStepRate1"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_MinStepRate2"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_MinStepRate3"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_PhaseCurrent"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_Ramp"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_StartStopSpeed"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_SleewSpeed"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_Range"));
+ dev_prop.push_back(Tango::DbDatum("Axis2_SetAccelerAndRetardPars"));
+
+ // Call database and extract values
+ //--------------------------------------------
+ if (Tango::Util::instance()->_UseDb==true)
+ get_db_device()->get_property(dev_prop);
+ Tango::DbDatum def_prop, cl_prop;
+ AmlClass *ds_class =
+ (static_cast<AmlClass *>(get_device_class()));
+ int i = -1;
+
+ // Try to initialize LogicalName from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> logicalName;
+ else {
+ // Try to initialize LogicalName from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> logicalName;
+ }
+ // And try to extract LogicalName value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> logicalName;
+
+ // Try to initialize SerialPort from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> serialPort;
+ else {
+ // Try to initialize SerialPort from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> serialPort;
+ }
+ // And try to extract SerialPort value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> serialPort;
+
+ // Try to initialize ControllerVersion from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> controllerVersion;
+ else {
+ // Try to initialize ControllerVersion from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> controllerVersion;
+ }
+ // And try to extract ControllerVersion value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> controllerVersion;
+
+ // Try to initialize Axis1_Name from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_Name;
+ else {
+ // Try to initialize Axis1_Name from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_Name;
+ }
+ // And try to extract Axis1_Name value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_Name;
+
+ // Try to initialize Axis1_MinStepRate1 from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_MinStepRate1;
+ else {
+ // Try to initialize Axis1_MinStepRate1 from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_MinStepRate1;
+ }
+ // And try to extract Axis1_MinStepRate1 value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_MinStepRate1;
+
+ // Try to initialize Axis1_MinStepRate2 from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_MinStepRate2;
+ else {
+ // Try to initialize Axis1_MinStepRate2 from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_MinStepRate2;
+ }
+ // And try to extract Axis1_MinStepRate2 value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_MinStepRate2;
+
+ // Try to initialize Axis1_MinStepRate3 from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_MinStepRate3;
+ else {
+ // Try to initialize Axis1_MinStepRate3 from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_MinStepRate3;
+ }
+ // And try to extract Axis1_MinStepRate3 value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_MinStepRate3;
+
+ // Try to initialize Axis1_PhaseCurrent from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_PhaseCurrent;
+ else {
+ // Try to initialize Axis1_PhaseCurrent from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_PhaseCurrent;
+ }
+ // And try to extract Axis1_PhaseCurrent value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_PhaseCurrent;
+
+ // Try to initialize Axis1_Ramp from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_Ramp;
+ else {
+ // Try to initialize Axis1_Ramp from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_Ramp;
+ }
+ // And try to extract Axis1_Ramp value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_Ramp;
+
+ // Try to initialize Axis1_StartStopSpeed from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_StartStopSpeed;
+ else {
+ // Try to initialize Axis1_StartStopSpeed from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_StartStopSpeed;
+ }
+ // And try to extract Axis1_StartStopSpeed value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_StartStopSpeed;
+
+ // Try to initialize Axis1_SleewSpeed from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_SleewSpeed;
+ else {
+ // Try to initialize Axis1_SleewSpeed from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_SleewSpeed;
+ }
+ // And try to extract Axis1_SleewSpeed value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_SleewSpeed;
+
+ // Try to initialize Axis1_Range from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_Range;
+ else {
+ // Try to initialize Axis1_Range from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_Range;
+ }
+ // And try to extract Axis1_Range value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_Range;
+
+ // Try to initialize Axis1_SetAccelerAndRetardPars from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis1_SetAccelerAndRetardPars;
+ else {
+ // Try to initialize Axis1_SetAccelerAndRetardPars from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis1_SetAccelerAndRetardPars;
+ }
+ // And try to extract Axis1_SetAccelerAndRetardPars value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis1_SetAccelerAndRetardPars;
+
+ // Try to initialize Axis2_Name from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_Name;
+ else {
+ // Try to initialize Axis2_Name from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_Name;
+ }
+ // And try to extract Axis2_Name value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_Name;
+
+ // Try to initialize Axis2_MinStepRate1 from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_MinStepRate1;
+ else {
+ // Try to initialize Axis2_MinStepRate1 from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_MinStepRate1;
+ }
+ // And try to extract Axis2_MinStepRate1 value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_MinStepRate1;
+
+ // Try to initialize Axis2_MinStepRate2 from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_MinStepRate2;
+ else {
+ // Try to initialize Axis2_MinStepRate2 from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_MinStepRate2;
+ }
+ // And try to extract Axis2_MinStepRate2 value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_MinStepRate2;
+
+ // Try to initialize Axis2_MinStepRate3 from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_MinStepRate3;
+ else {
+ // Try to initialize Axis2_MinStepRate3 from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_MinStepRate3;
+ }
+ // And try to extract Axis2_MinStepRate3 value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_MinStepRate3;
+
+ // Try to initialize Axis2_PhaseCurrent from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_PhaseCurrent;
+ else {
+ // Try to initialize Axis2_PhaseCurrent from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_PhaseCurrent;
+ }
+ // And try to extract Axis2_PhaseCurrent value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_PhaseCurrent;
+
+ // Try to initialize Axis2_Ramp from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_Ramp;
+ else {
+ // Try to initialize Axis2_Ramp from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_Ramp;
+ }
+ // And try to extract Axis2_Ramp value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_Ramp;
+
+ // Try to initialize Axis2_StartStopSpeed from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_StartStopSpeed;
+ else {
+ // Try to initialize Axis2_StartStopSpeed from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_StartStopSpeed;
+ }
+ // And try to extract Axis2_StartStopSpeed value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_StartStopSpeed;
+
+ // Try to initialize Axis2_SleewSpeed from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_SleewSpeed;
+ else {
+ // Try to initialize Axis2_SleewSpeed from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_SleewSpeed;
+ }
+ // And try to extract Axis2_SleewSpeed value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_SleewSpeed;
+
+ // Try to initialize Axis2_Range from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_Range;
+ else {
+ // Try to initialize Axis2_Range from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_Range;
+ }
+ // And try to extract Axis2_Range value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_Range;
+
+ // Try to initialize Axis2_SetAccelerAndRetardPars from class property
+ cl_prop = ds_class->get_class_property(dev_prop[++i].name);
+ if (cl_prop.is_empty()==false) cl_prop >> axis2_SetAccelerAndRetardPars;
+ else {
+ // Try to initialize Axis2_SetAccelerAndRetardPars from default device value
+ def_prop = ds_class->get_default_device_property(dev_prop[i].name);
+ if (def_prop.is_empty()==false) def_prop >> axis2_SetAccelerAndRetardPars;
+ }
+ // And try to extract Axis2_SetAccelerAndRetardPars value from database
+ if (dev_prop[i].is_empty()==false) dev_prop[i] >> axis2_SetAccelerAndRetardPars;
+
+
+
+ // End of Automatic code generation
+ //------------------------------------------------------------------
+
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::always_executed_hook()
+//
+// description : method always executed before any command is executed
+//
+//-----------------------------------------------------------------------------
+void Aml::always_executed_hook()
+{
+
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::read_attr_hardware
+//
+// description : Hardware acquisition for attributes.
+//
+//-----------------------------------------------------------------------------
+void Aml::read_attr_hardware(vector<long> &attr_list)
+{
+ DEBUG_STREAM << "Aml::read_attr_hardware(vector<long> &attr_list) entering... "<< endl;
+ // Add your own code here
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : Aml::read_Axis1_Position
+//
+// description : Extract real attribute values for Axis1_Position acquisition result.
+//
+//-----------------------------------------------------------------------------
+void Aml::read_Axis1_Position(Tango::Attribute &attr)
+{
+ DEBUG_STREAM << "Aml::read_Axis1_Position(Tango::Attribute &attr) entering... "<< endl;
+
+ attr_long_value=get_position(1);
+ currentPosAxis1=attr_long_value;
+
+ attr.set_value(&attr_long_value);
+
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : Aml::read_Axis2_Position
+//
+// description : Extract real attribute values for Axis2_Position acquisition result.
+//
+//-----------------------------------------------------------------------------
+void Aml::read_Axis2_Position(Tango::Attribute &attr)
+{
+ DEBUG_STREAM << "Aml::read_Axis2_Position(Tango::Attribute &attr) entering... "<< endl;
+
+ attr_long_value=get_position(2);
+ currentPosAxis2=attr_long_value;
+
+ attr.set_value(&attr_long_value);
+}
+
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::init_motor
+ *
+ * description: method to execute "InitMotor"
+ *
+ *
+ */
+//+------------------------------------------------------------------
+void Aml::init_motor()
+{
+ DEBUG_STREAM << "Aml::init_motor(): entering... !" << endl;
+
+ // Add your own code to control device here
+ char *answ;
+ string cmd;
+ string selMot;
+ char *char_cmd;
+
+ actualSelectedMotor = -1;
+ //select 1st axis
+ selMot=string(AML_AXIS1);
+ selectMotor(selMot);
+
+
+ //set 1st axis parameters
+ if (device != 0) {
+ if (controllerVersion)
+ cmd=axis1_MinStepRate1;
+ else
+ cmd=string(AML_SET_MIN_STEP_RATE1) + "," + axis1_MinStepRate1;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting min step rate1 failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_MIN_STEP_RATE2) + "," + axis1_MinStepRate2;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting min step rate2 failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_MIN_STEP_RATE4) + "," + axis1_MinStepRate3;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting min step rate4 failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if (device != 0) {
+ cmd=string(AML_REMOVE_PHASE_CURRENT) + axis1_PhaseCurrent;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting phase current failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_RAMP) + axis1_Ramp;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting ramp failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if (device != 0) {
+ cmd=string(AML_SMOOTH_STOP);
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting smooth stop failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_START_STOP_SPEED) + axis1_StartStopSpeed;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting start stop speed failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_SLEEW_SPEED) + axis1_SleewSpeed;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting sleew speed failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if (device != 0) {
+ cmd=string(AML_SET_INIT_POS) ;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting init pos failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (controllerVersion)) {
+ cmd=axis1_SetAccelerAndRetardPars;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor1Name<<" init_motor: setting sleew speed failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ //select 2nd axis
+ selMot=string(AML_AXIS2);
+ selectMotor(selMot);
+
+ //set 2nd axis parameters
+ if (device != 0) {
+ if (controllerVersion)
+ cmd=axis2_MinStepRate1;
+ else
+ cmd=string(AML_SET_MIN_STEP_RATE1) + "," + axis2_MinStepRate1;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting min step rate1 failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_MIN_STEP_RATE2) + "," + axis2_MinStepRate2;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting min step rate2 failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_MIN_STEP_RATE4) + "," + axis2_MinStepRate3;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting min step rate4 failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if (device != 0) {
+ cmd=string(AML_REMOVE_PHASE_CURRENT) + axis2_PhaseCurrent;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting phase current failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_RAMP) + axis2_Ramp;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting ramp failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if (device != 0) {
+ cmd=string(AML_SMOOTH_STOP);
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting smooth stop failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_START_STOP_SPEED) + axis2_StartStopSpeed;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting start stop speed failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (!controllerVersion)) {
+ cmd=string(AML_SET_SLEEW_SPEED) + axis2_SleewSpeed;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting sleew speed failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if (device != 0) {
+ cmd=string(AML_SET_INIT_POS) ;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting init pos failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ if ((device != 0) && (controllerVersion)) {
+ cmd=axis2_SetAccelerAndRetardPars;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< Motor2Name<<" init_motor: setting sleew speed failed";
+ Tango::Except::throw_exception("Init Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ return;
+
+}
+
+
+
+//+------------------------------------------------------------------
+/**
+ * General methods
+ */
+//+------------------------------------------------------------------
+void Aml::initSerialPort()
+{
+ DEBUG_STREAM << "Aml::initSerialPort(): entering... !" << endl;
+
+ // Add your own code to control device here
+
+ struct termios tty_settings;
+ struct termios com_par;
+ char ttyport[128];
+
+
+ // Initialise variables to default values
+ //--------------------------------------------
+ sprintf(ttyport,"/dev/%s",serialPort.c_str());
+ device = open (ttyport, O_RDWR | O_NONBLOCK);
+ if (device < 0) {
+ device = 0;
+ Tango::Except::throw_exception(
+ "Unable to open serial device",
+ "AML Init Error.",
+ "initSerialPort()",
+ Tango::ERR);
+ return;
+ }
+
+ if(tcgetattr(device, &com_par) == -1) {
+ close(device);
+ device = 0;
+ Tango::Except::throw_exception(
+ "Unable to get serial device attributes",
+ "AML Init Error.",
+ "initSerialPort()",
+ Tango::ERR);
+ return;
+ }
+
+ bzero(&tty_settings, sizeof(tty_settings));
+
+ tty_settings.c_oflag = 0; // raw output
+ tty_settings.c_iflag = IGNBRK | IGNPAR | ICRNL;
+ tty_settings.c_cflag = B19200 | CS7 | CSTOPB | PARODD | PARENB | CLOCAL | CREAD;
+
+ //timeout della seriale
+ tty_settings.c_cc[VMIN]=1; /* blocking read until N character arrives */
+ tty_settings.c_cc[VTIME]=0; /* inter-character timer */
+
+ cfsetospeed(&tty_settings,B19200); // input baud rate
+ cfsetispeed(&tty_settings,B19200); // output
+
+
+ if (tcflush(device,TCIOFLUSH)!=0)
+ {
+ close(device);
+ device = 0;
+ Tango::Except::throw_exception(
+ "Unable to flush serial device",
+ "AML int Error.",
+ "init_serialPort()",
+ Tango::ERR);
+ return;
+ }
+
+ if(tcsetattr(device, TCSANOW, &tty_settings) == -1) {
+ close(device);
+ device = 0;
+ Tango::Except::throw_exception(
+ "tcsetattr of serial device failed!!!",
+ "AML int Error.",
+ "init_serialPort()",
+ Tango::ERR);
+ return;
+ }
+
+ if (tcflush(device,TCIOFLUSH)!=0)
+ {
+ close(device);
+ device = 0;
+ Tango::Except::throw_exception(
+ "Unable to flush serial device after having set tty parameters",
+ "AML int Error.",
+ "init_serialPort()",
+ Tango::ERR);
+ return;
+ }
+
+ tcsetattr(device, TCSANOW,&tty_settings);// changes made NOW
+
+ //flusho la seriale
+ if (tcflush(device,TCIOFLUSH)!=0)
+ {
+ Tango::Except::throw_exception(
+ "Unable to flush serial device",
+ "AML int Error.",
+ "init_serialPort()",
+ Tango::ERR);
+ return;
+ }
+
+}
+
+
+bool Aml:: checkRangeOk(string axis,Tango::DevLong distance)
+{
+ Tango::DevLong Range=0;
+ bool res=false;
+ if (strcmp(axis.c_str(), AML_AXIS1)== 0)
+ Range= atol(axis1_Range.c_str());
+ else if (strcmp(axis.c_str(), AML_AXIS2)== 0)
+ Range= atol(axis2_Range.c_str());
+ else
+ Tango::Except::throw_exception(
+ "NO AXIS SELECTED",
+ "AML setup error.",
+ "checkRangeOk()",
+ Tango::ERR);
+ res = ((distance> -Range) && (distance<Range));
+ return res;
+}
+
+void Aml::ClearError(void) {
+ errorMessage.clear();
+ errorNumber = 0;
+}
+
+void Aml::SetError(char *msg, int num = 0) {
+ ClearError();
+ errorNumber = num;
+ errorMessage = string(msg);
+}
+
+
+void Aml::amlError(char *msg, char *answ) {
+ char buffer[AMLBUFFLEN];
+
+ sprintf(buffer,"%s: %s\n",logicalName.c_str(),msg);
+
+ if (!(strcmp(answ,"E1")))
+ sprintf(buffer+strlen(buffer),"Parity/Checksum error");
+ if (!(strcmp(answ,"E2")))
+ sprintf(buffer+strlen(buffer),"Command argument out of limit or not requested");
+ if (!(strcmp(answ,"E3")))
+ sprintf(buffer+strlen(buffer),"Error in downloaded program");
+ if (!(strcmp(answ,"E4")))
+ sprintf(buffer+strlen(buffer),"Command not executable");
+ if (!(strcmp(answ,"E5")))
+ sprintf(buffer+strlen(buffer),"Temperature exceeded 175 C");
+ if (!(strcmp(answ,"E7")))
+ sprintf(buffer+strlen(buffer),"End of travel input at \"low\"");
+ if (!(strcmp(answ,"E8")))
+ sprintf(buffer+strlen(buffer),"Loop nesting too deep");
+ if (!(strcmp(answ,"E9")))
+ sprintf(buffer+strlen(buffer),"Program too large");
+
+ errorMessage=string(buffer);
+}
+
+
+char * Aml::talkListen(char *msg, const int retry) {
+ int readmask = 0;
+ fd_set readfds;
+ int nfound, nbytes, total_read_bytes,i;
+ char errbuffer[AMLBUFFLEN],logbuffer[AMLBUFFLEN];
+ char *buffer;
+ char answ_buffer[AMLBUFFLEN];
+ struct timeval timeout;
+
+ tcflush(device,TCIOFLUSH);
+ DEBUG_STREAM << "Aml::talkListen(): Sending: " << msg << endl;
+ buffer = strdup(msg);
+ buffer[strlen(msg)] = '\r';
+ if ( (nbytes = write(device, buffer, strlen(msg)+1)) < 0) {
+ sprintf(errbuffer,"%s: talk_listen: write failed: errno=%d",logicalName.c_str(), msg, errno);
+ SetError(errbuffer,errno);
+ return(0);
+ }
+ usleep(1000);
+ free(buffer);
+ readmask = 1 << device;
+
+ bzero(answ_buffer,AMLBUFFLEN);
+ total_read_bytes = 0;
+
+ for (i=0; i<retry; i++) {
+
+// changes required
+
+ FD_ZERO(&readfds);
+ FD_SET(device, &readfds);
+ timeout.tv_sec = 1;
+ timeout.tv_usec = 0;
+
+ if((nfound = select(32, &readfds, 0, 0, &timeout)) == -1) {
+ sprintf(errbuffer,"%s: talk_listen: select failed",logicalName.c_str(), msg);
+ SetError(errbuffer,nfound);
+ return(0);
+ }
+ else if (nfound > 0) {
+ if ( (nbytes = read(device, answ_buffer+total_read_bytes, AMLBUFFLEN)) < 0) {
+ sprintf(errbuffer,"%s: talk_listen: read failed: errno=%d",logicalName.c_str(), msg, errno);
+ SetError(errbuffer,errno);
+ return(0);
+ }
+ total_read_bytes += nbytes;
+ if (strchr(answ_buffer,'\n') == NULL) {
+ continue;
+ }
+ *(strchr(answ_buffer,'\n')) = 0;
+ DEBUG_STREAM << "Aml::talkListen(): Received: " << answ_buffer << endl;
+ if(!strncmp(answ_buffer,AMLOKY,1) ||
+ !strncmp(answ_buffer,AMLOKV,1) ||
+ !strncmp(answ_buffer,AMLOKQ,1) ) {
+ return(strdup(answ_buffer));
+ } else
+ if (!strncmp(answ_buffer,AMLBUSY,1)) {
+ sprintf(logbuffer,"\n%s talk_listen: answer:|%s|: busy",logicalName.c_str(),answ_buffer);
+ logMessage=string(logbuffer);
+ } else
+ if (!strncmp(answ_buffer,AMLERROR,1)) {
+ sprintf(errbuffer,"%s talk_listen: answer:|%s|: error",logicalName.c_str(),answ_buffer);
+ amlError(errbuffer, answ_buffer);
+ return(0);
+
+ } else {
+ sprintf(errbuffer,"%s talk_listen: answer:|%s|: unknown",logicalName.c_str(),answ_buffer);
+ SetError(errbuffer,1);
+ return(0);
+ }
+ }
+ usleep(1000);
+ }
+ sprintf(errbuffer,"%s talk_listen: answer:|%s|: select timeout",logicalName.c_str(),answ_buffer);
+ SetError(errbuffer,1);
+ return(0);
+}
+
+int Aml:: checkStatus()
+{
+ char buffer[256];
+ char *answ;
+
+ if (device == 0) {
+ sprintf(buffer,"%s: getstatus: serial not initialized",logicalName.c_str());
+ DEBUG_STREAM << buffer << endl;
+ return -1;
+ }
+
+ answ=talkListen("F", AML_MAX_RETRY);
+ if (answ==0) {
+ return -1;
+ }
+ sprintf(buffer,"%s: getstatus: motor %s",logicalName.c_str(), answ);
+ DEBUG_STREAM << buffer << endl;
+
+ while (answ[0] == 'B') {
+ sprintf(buffer,"%s: getstatus: motor %s",logicalName.c_str(), answ);
+ DEBUG_STREAM << buffer << endl;
+ free(answ);
+ answ=talkListen("F", AML_MAX_RETRY);
+ if (answ==0) {
+ return -1;
+ }
+ }
+
+ sprintf(buffer,"%s: getstatus: motor %s",logicalName.c_str(), answ);
+ DEBUG_STREAM << buffer << endl;
+ if (answ[0] == 'Y') {
+ // motor is ready
+ free(answ);
+ return(0);
+ } else {
+ // motor in error
+ free(answ);
+ return -1;
+ }
+}
+
+void Aml:: selectMotor(string selectedMotor)
+{
+ char *answ;
+ string cmd;
+ char *char_cmd;
+ int motnum = atoi(selectedMotor.c_str());
+
+ if ((device != 0) && ( actualSelectedMotor != motnum)){
+ cmd=string(AML_SEL_MOTOR) + selectedMotor;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedMotor <<" selectMotor: selection of motor failed";
+ Tango::Except::throw_exception("Select Motor Error", os.str(), __func__);
+ } else {
+ actualSelectedMotor = motnum;
+ // Sleep a little bit before next operation
+ usleep(1000);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+ return;
+}
+
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::get_position
+ *
+ * description: method to execute "GetPosition"
+ *
+ * @return
+ *
+ */
+//+------------------------------------------------------------------
+//Tango::DevFloat Aml::get_position()
+//{
+// Tango::DevFloat argout ;
+// DEBUG_STREAM << "Aml::get_position(): entering... !" << endl;
+//
+// selectMotor();
+//
+// char *recbuffer;
+// char logbuffer[256];
+// string cmd;
+// char *char_cmd;
+//
+// if (device != 0) {
+// cmd=string(AML_GET_POS) ;
+// char_cmd=new char[cmd.length()+1];
+// strcpy(char_cmd, cmd.c_str());
+//
+// recbuffer = talkListen(char_cmd, AML_MAX_RETRY);;
+// if ( recbuffer== NULL) {
+// TangoSys_OMemStream os;
+// os << "Error->"<< logicalName<<" get_position: get pos failed";
+// Tango::Except::throw_exception("Aml::get_position(): Error", os.str(), __func__);
+// }
+// delete []char_cmd;
+// }
+//
+//
+// argout=atof(recbuffer+1);
+// free(recbuffer);
+// return argout;
+//}
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::get_position
+ *
+ * description: method to execute "GetPosition"
+ *
+ * @param argin
+ * @return
+ *
+ */
+//+------------------------------------------------------------------
+Tango::DevLong Aml::get_position(Tango::DevShort argin)
+{
+ Tango::DevLong argout ;
+ DEBUG_STREAM << "Aml::get_position(): entering... !" << endl;
+
+ // Add your own code to control device here
+
+ string selectedMotor;
+ std::ostringstream oss;
+ oss<<argin;
+
+ selectedMotor=oss.str();
+ selectMotor(selectedMotor);
+
+ char *recbuffer;
+ char logbuffer[256];
+ string cmd;
+ char *char_cmd;
+
+ if (device != 0) {
+ cmd=string(AML_GET_POS) ;
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+
+ recbuffer = talkListen(char_cmd, AML_MAX_RETRY);;
+ if ( recbuffer== NULL) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName<<" get_position: get pos failed";
+ Tango::Except::throw_exception("Aml::get_position(): Error", os.str(), __func__);
+ }
+ delete []char_cmd;
+ }
+
+
+ argout=atol(recbuffer+1);
+ free(recbuffer);
+ return argout;
+
+}
+
+
+
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::axis1__move_relative
+ *
+ * description: method to execute "Axis1_MoveRelative"
+ *
+ * @param argin
+ *
+ */
+//+------------------------------------------------------------------
+void Aml::axis1__move_relative(Tango::DevLong argin)
+{
+ DEBUG_STREAM << "Aml::axis1__move_relative(): entering... !" << endl;
+
+ // Add your own code to control device here
+ string selectedAxis=string(AML_AXIS1);
+ selectMotor(selectedAxis);
+
+ char *answ;
+
+ if (checkStatus()<0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_relative: motor NOT ready";
+ Tango::Except::throw_exception("Motor Busy Error", os.str(), __func__);
+ return;
+ }
+
+ currentPosAxis1=get_position(atol(selectedAxis.c_str()));
+ Tango::DevLong dist = currentPosAxis1 + argin;
+
+ if (!checkRangeOk(selectedAxis, dist)) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_relative: out of range";
+ Tango::Except::throw_exception("Moving Error", os.str(), __func__);
+ return;
+ }
+
+ if (device != 0) {
+ char cmd[AMLBUFFLEN];
+ sprintf(cmd,"%s%d",AML_ABS_POS,(int)dist);
+ DEBUG_STREAM << dist << ","<< currentPosAxis1 << "," << argin << "," << AML_ABS_POS << "," << cmd << endl;
+ answ=talkListen(cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_relative: movement failed";
+ Tango::Except::throw_exception("Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ }
+ return;
+
+}
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::axis2__move_relative
+ *
+ * description: method to execute "Axis2_MoveRelative"
+ *
+ * @param argin
+ *
+ */
+//+------------------------------------------------------------------
+void Aml::axis2__move_relative(Tango::DevLong argin)
+{
+ DEBUG_STREAM << "Aml::axis2__move_relative(): entering... !" << endl;
+
+ // Add your own code to control device here
+ string selectedAxis=string(AML_AXIS2);
+
+ selectMotor(selectedAxis);
+
+ char *answ;
+
+ if (checkStatus()<0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_relative: motor NOT ready";
+ Tango::Except::throw_exception("Motor Busy Error", os.str(), __func__);
+ return;
+ }
+
+ currentPosAxis2=get_position(atol(selectedAxis.c_str()));
+ Tango::DevLong dist = currentPosAxis2 + argin;
+ if (!checkRangeOk(selectedAxis, dist)) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_relative: out of range";
+ Tango::Except::throw_exception("Moving Error", os.str(), __func__);
+ return;
+ }
+
+ if (device != 0) {
+ char cmd[AMLBUFFLEN];
+ sprintf(cmd,"%s%d",AML_ABS_POS,(int)dist);
+ answ=talkListen(cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_relative: movement failed";
+ Tango::Except::throw_exception("Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ }
+ return;
+
+}
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::axis1__move_absolute
+ *
+ * description: method to execute "Axis1_MoveAbsolute"
+ *
+ * @param argin
+ *
+ */
+//+------------------------------------------------------------------
+void Aml::axis1__move_absolute(Tango::DevLong argin)
+{
+ DEBUG_STREAM << "Aml::axis1__move_absolute(): entering... !" << endl;
+
+ // Add your own code to control device here
+
+ string selectedAxis=string(AML_AXIS1);
+
+ selectMotor(selectedAxis);
+
+ char buffer[256], logbuffer[256];
+ char *answ;
+
+ Tango::DevLong dist = argin;
+
+
+ if (!checkRangeOk(selectedAxis,argin)) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_absolute: out of range";
+ Tango::Except::throw_exception("Moving Error", os.str(), __func__);
+ return;
+ }
+
+ // control the motor state
+ if ( checkStatus() < 0) { // motor not ready (e.i. busy or in error)
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_absolute: motor NOT ready";
+ Tango::Except::throw_exception("Motor Busy Error", os.str(), __func__);
+ return;
+ }
+
+ if (device != 0) {
+ char cmd[AMLBUFFLEN];
+ sprintf(cmd,"%s%d",AML_ABS_POS,(int)dist);
+ answ=talkListen(cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_absolute: movement failed";
+ Tango::Except::throw_exception("Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ }
+
+ return;
+
+
+}
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::axis2__move_absolute
+ *
+ * description: method to execute "Axis2_MoveAbsolute"
+ *
+ * @param argin
+ *
+ */
+//+------------------------------------------------------------------
+void Aml::axis2__move_absolute(Tango::DevLong argin)
+{
+ DEBUG_STREAM << "Aml::axis2__move_absolute(): entering... !" << endl;
+
+ // Add your own code to control device here
+ string selectedAxis=string(AML_AXIS2);
+ selectMotor(selectedAxis);
+
+ char buffer[256], logbuffer[256];
+ char *answ;
+
+ Tango::DevLong dist = argin;
+
+ if (!checkRangeOk(selectedAxis,argin)) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_absolute: out of range";
+ Tango::Except::throw_exception("Moving Error", os.str(), __func__);
+ return;
+ }
+
+ // controll the motor state
+ if ( checkStatus() < 0) { // motor not ready (e.i. busy or in error)
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_absolute: motor NOT ready";
+ Tango::Except::throw_exception("Motor Busy Error", os.str(), __func__);
+ return;
+ }
+
+ if (device != 0) {
+ char cmd[AMLBUFFLEN];
+ sprintf(cmd,"%s%d",AML_ABS_POS,(int)dist);
+ answ=talkListen(cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedAxis<<" move_absolute: movement failed";
+ Tango::Except::throw_exception("Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ }
+
+ return;
+
+}
+
+//+------------------------------------------------------------------
+/**
+ * method: Aml::stop
+ *
+ * description: method to execute "Stop"
+ *
+ * @param argin
+ *
+ */
+//+------------------------------------------------------------------
+void Aml::stop(Tango::DevShort argin)
+{
+ DEBUG_STREAM << "Aml::stop(): entering... !" << endl;
+
+ // Add your own code to control device here
+
+ string selectedMotor;
+ std::ostringstream oss;
+ oss<<argin;
+
+ selectedMotor=oss.str();
+ selectMotor(selectedMotor);
+
+ char *answ;
+ string cmd;
+ char *char_cmd;
+
+ if (device != 0) {
+ cmd=string(AML_SMOOTH_STOP);
+ char_cmd=new char[cmd.length()+1];
+ strcpy(char_cmd, cmd.c_str());
+ answ=talkListen(char_cmd, AML_MAX_RETRY);
+ if (answ == 0) {
+ TangoSys_OMemStream os;
+ os << "Error->"<< logicalName + selectedMotor <<" stop: stopping of motor failed";
+ Tango::Except::throw_exception("Stop Motor Error", os.str(), __func__);
+ }
+ free(answ);
+ delete []char_cmd;
+ }
+
+ return;
+
+}
+
+
+
+} // namespace
diff --git a/src/Aml.h b/src/Aml.h
new file mode 100644
index 0000000000000000000000000000000000000000..555eb0d793e188d563f4b30e1c1cf6dbbd0b816d
--- /dev/null
+++ b/src/Aml.h
@@ -0,0 +1,394 @@
+//=============================================================================
+//
+// file : Aml.h
+//
+// description : Include for the Aml class.
+//
+// project :
+//
+// $Author: $
+//
+// $Revision: $
+//
+// $Log: $
+//
+// copyleft : European Synchrotron Radiation Facility
+// BP 220, Grenoble 38043
+// FRANCE
+//
+//=============================================================================
+//
+// This file is generated by POGO
+// (Program Obviously used to Generate tango Object)
+//
+// (c) - Software Engineering Group - ESRF
+//=============================================================================
+#ifndef _AML_H
+#define _AML_H
+
+//Including TANGO library
+#include <tango.h>
+
+//Including libraries
+#include <string.h>
+#include <termio.h>
+#include <sys/ioctl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <termio.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <math.h>
+#include <fcntl.h>
+#include <string.h>
+
+#define AMLBUFFLEN 256
+#define AMLOKY "Y"
+#define AMLOKQ "Q"
+#define AMLOKV "V"
+#define AMLBUSY "B"
+#define AMLERROR "E"
+#define AML_MAX_RETRY 10
+#define AML_SEL_MOTOR "B"
+#define AML_SET_MIN_STEP_RATE1 "M1"
+#define AML_SET_MIN_STEP_RATE2 "M2"
+#define AML_SET_MIN_STEP_RATE4 "M4"
+#define AML_REMOVE_PHASE_CURRENT "h"
+#define AML_SET_RAMP "R"
+#define AML_SMOOTH_STOP "Z"
+#define AML_START_STOP_SPEED "S"
+#define AML_SET_SLEEW_SPEED "T"
+#define AML_SET_INIT_POS "I1"
+#define AML_ABS_POS "G"
+#define AML_GET_POS "V1"
+#define AML_AXIS1 "1"
+#define AML_AXIS2 "2"
+
+//using namespace Tango;
+
+/**
+ * @author $Author: $
+ * @version $Revision: $
+ */
+
+ // Add your own constants definitions here.
+ //-----------------------------------------------
+
+
+namespace Aml_ns
+{
+
+/**
+ * Class Description:
+ *
+ */
+
+/*
+ * Device States Description:
+ */
+
+
+class Aml: public Tango::Device_4Impl
+{
+public :
+ // Add your own data members here
+ //-----------------------------------------
+ void initSerialPort();
+ bool checkRangeOk(string ,Tango::DevLong );
+ void ClearError(void);
+ void SetError(char *msg, int num);
+ void amlError(char *, char *);
+ int checkStatus();
+ char * talkListen(char *, const int );
+ void selectMotor(string );
+
+ int device;
+ string curPos;
+ Tango::DevLong currentPosAxis1;
+ Tango::DevLong currentPosAxis2;
+ string errorMessage;
+ string logMessage;
+ int errorNumber;
+ string Motor1Name, Motor2Name;
+
+ // Here is the Start of the automatic code generation part
+ //-------------------------------------------------------------
+/**
+ * @name attributes
+ * Attributs member data.
+ */
+//@{
+ Tango::DevLong *attr_Axis1_Position_read;
+ Tango::DevLong *attr_Axis2_Position_read;
+//@}
+
+/**
+ * @name Device properties
+ * Device properties member data.
+ */
+//@{
+/**
+ *
+ */
+ string logicalName;
+/**
+ * Serial port device (ttyS0,ttyS1, ...)
+ */
+ string serialPort;
+/**
+ *
+ */
+ Tango::DevShort controllerVersion;
+/**
+ *
+ */
+ string axis1_Name;
+/**
+ *
+ */
+ string axis1_MinStepRate1;
+/**
+ *
+ */
+ string axis1_MinStepRate2;
+/**
+ *
+ */
+ string axis1_MinStepRate3;
+/**
+ *
+ */
+ string axis1_PhaseCurrent;
+/**
+ *
+ */
+ string axis1_Ramp;
+/**
+ *
+ */
+ string axis1_StartStopSpeed;
+/**
+ *
+ */
+ string axis1_SleewSpeed;
+/**
+ *
+ */
+ string axis1_Range;
+/**
+ *
+ */
+ string axis1_SetAccelerAndRetardPars;
+/**
+ *
+ */
+ string axis2_Name;
+/**
+ *
+ */
+ string axis2_MinStepRate1;
+/**
+ *
+ */
+ string axis2_MinStepRate2;
+/**
+ *
+ */
+ string axis2_MinStepRate3;
+/**
+ *
+ */
+ string axis2_PhaseCurrent;
+/**
+ *
+ */
+ string axis2_Ramp;
+/**
+ *
+ */
+ string axis2_StartStopSpeed;
+/**
+ *
+ */
+ string axis2_SleewSpeed;
+/**
+ *
+ */
+ string axis2_Range;
+/**
+ *
+ */
+ string axis2_SetAccelerAndRetardPars;
+//@}
+
+/**@name Constructors
+ * Miscellaneous constructors */
+//@{
+/**
+ * Constructs a newly allocated Command object.
+ *
+ * @param cl Class.
+ * @param s Device Name
+ */
+ Aml(Tango::DeviceClass *cl,string &s);
+/**
+ * Constructs a newly allocated Command object.
+ *
+ * @param cl Class.
+ * @param s Device Name
+ */
+ Aml(Tango::DeviceClass *cl,const char *s);
+/**
+ * Constructs a newly allocated Command object.
+ *
+ * @param cl Class.
+ * @param s Device name
+ * @param d Device description.
+ */
+ Aml(Tango::DeviceClass *cl,const char *s,const char *d);
+//@}
+
+/**@name Destructor
+ * Only one desctructor is defined for this class */
+//@{
+/**
+ * The object desctructor.
+ */
+ ~Aml() {delete_device();};
+/**
+ * will be called at device destruction or at init command.
+ */
+ void delete_device();
+//@}
+
+
+/**@name Miscellaneous methods */
+//@{
+/**
+ * Initialize the device
+ */
+ virtual void init_device();
+/**
+ * Always executed method befor execution command method.
+ */
+ virtual void always_executed_hook();
+
+//@}
+
+/**
+ * @name Aml methods prototypes
+ */
+
+//@{
+/**
+ * Hardware acquisition for attributes.
+ */
+ virtual void read_attr_hardware(vector<long> &attr_list);
+/**
+ * Extract real attribute values for Axis1_Position acquisition result.
+ */
+ virtual void read_Axis1_Position(Tango::Attribute &attr);
+/**
+ * Extract real attribute values for Axis2_Position acquisition result.
+ */
+ virtual void read_Axis2_Position(Tango::Attribute &attr);
+/**
+ * Read/Write allowed for Axis1_Position attribute.
+ */
+ virtual bool is_Axis1_Position_allowed(Tango::AttReqType type);
+/**
+ * Read/Write allowed for Axis2_Position attribute.
+ */
+ virtual bool is_Axis2_Position_allowed(Tango::AttReqType type);
+/**
+ * Execution allowed for Axis1_MoveRelative command.
+ */
+ virtual bool is_Axis1_MoveRelative_allowed(const CORBA::Any &any);
+/**
+ * Execution allowed for Axis2_MoveRelative command.
+ */
+ virtual bool is_Axis2_MoveRelative_allowed(const CORBA::Any &any);
+/**
+ * Execution allowed for Axis1_MoveAbsolute command.
+ */
+ virtual bool is_Axis1_MoveAbsolute_allowed(const CORBA::Any &any);
+/**
+ * Execution allowed for Axis2_MoveAbsolute command.
+ */
+ virtual bool is_Axis2_MoveAbsolute_allowed(const CORBA::Any &any);
+/**
+ * Execution allowed for InitMotor command.
+ */
+ virtual bool is_InitMotor_allowed(const CORBA::Any &any);
+/**
+ * Execution allowed for Stop command.
+ */
+ virtual bool is_Stop_allowed(const CORBA::Any &any);
+/**
+ * Execution allowed for GetPosition command.
+ */
+ virtual bool is_GetPosition_allowed(const CORBA::Any &any);
+/**
+ *
+ * @param argin
+ * @exception DevFailed
+ */
+ void axis1__move_relative(Tango::DevLong);
+/**
+ *
+ * @param argin
+ * @exception DevFailed
+ */
+ void axis2__move_relative(Tango::DevLong);
+/**
+ *
+ * @param argin
+ * @exception DevFailed
+ */
+ void axis1__move_absolute(Tango::DevLong);
+/**
+ *
+ * @param argin
+ * @exception DevFailed
+ */
+ void axis2__move_absolute(Tango::DevLong);
+/**
+ *
+ * @exception DevFailed
+ */
+ void init_motor();
+/**
+ *
+ * @param argin
+ * @exception DevFailed
+ */
+ void stop(Tango::DevShort);
+/**
+ *
+ * @param argin
+ * @return
+ * @exception DevFailed
+ */
+ Tango::DevLong get_position(Tango::DevShort);
+
+/**
+ * Read the device properties from database
+ */
+ void get_device_property();
+//@}
+
+ // Here is the end of the automatic code generation part
+ //-------------------------------------------------------------
+
+
+
+protected :
+ // Add your own data members here
+ //-----------------------------------------
+ Tango::DevLong attr_long_value;
+ int actualSelectedMotor;
+};
+
+} // namespace_ns
+
+#endif // _AML_H
diff --git a/src/AmlClass.cpp b/src/AmlClass.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5c040ba5b3d58cf8cbdcf472407e7892f0dcc4f3
--- /dev/null
+++ b/src/AmlClass.cpp
@@ -0,0 +1,941 @@
+static const char *RcsId = "$Header: $";
+static const char *TagName = "$Name: $";
+static const char *HttpServer= "http://www.esrf.fr/computing/cs/tango/tango_doc/ds_doc/";
+//+=============================================================================
+//
+// file : AmlClass.cpp
+//
+// description : C++ source for the AmlClass. A singleton
+// class derived from DeviceClass. It implements the
+// command list and all properties and methods required
+// by the Aml once per process.
+//
+// project : TANGO Device Server
+//
+// $Author: $
+//
+// $Revision: $
+//
+// $Log: $
+//
+// copyleft : European Synchrotron Radiation Facility
+// BP 220, Grenoble 38043
+// FRANCE
+//
+//-=============================================================================
+//
+// This file is generated by POGO
+// (Program Obviously used to Generate tango Object)
+//
+// (c) - Software Engineering Group - ESRF
+//=============================================================================
+
+
+#include <tango.h>
+
+#include <Aml.h>
+#include <AmlClass.h>
+
+
+namespace Aml_ns
+{
+//+----------------------------------------------------------------------------
+//
+// method : StopCmd::execute()
+//
+// description : method to trigger the execution of the command.
+// PLEASE DO NOT MODIFY this method core without pogo
+//
+// in : - device : The device on which the command must be excuted
+// - in_any : The command input data
+//
+// returns : The command output data (packed in the Any object)
+//
+//-----------------------------------------------------------------------------
+CORBA::Any *StopCmd::execute(Tango::DeviceImpl *device,const CORBA::Any &in_any)
+{
+
+ cout2 << "StopCmd::execute(): arrived" << endl;
+
+ Tango::DevShort argin;
+ extract(in_any, argin);
+
+ ((static_cast<Aml *>(device))->stop(argin));
+ return new CORBA::Any();
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : Axis2_MoveAbsoluteCmd::execute()
+//
+// description : method to trigger the execution of the command.
+// PLEASE DO NOT MODIFY this method core without pogo
+//
+// in : - device : The device on which the command must be excuted
+// - in_any : The command input data
+//
+// returns : The command output data (packed in the Any object)
+//
+//-----------------------------------------------------------------------------
+CORBA::Any *Axis2_MoveAbsoluteCmd::execute(Tango::DeviceImpl *device,const CORBA::Any &in_any)
+{
+
+ cout2 << "Axis2_MoveAbsoluteCmd::execute(): arrived" << endl;
+
+ Tango::DevLong argin;
+ extract(in_any, argin);
+
+ ((static_cast<Aml *>(device))->axis2__move_absolute(argin));
+ return new CORBA::Any();
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : Axis1_MoveAbsoluteCmd::execute()
+//
+// description : method to trigger the execution of the command.
+// PLEASE DO NOT MODIFY this method core without pogo
+//
+// in : - device : The device on which the command must be excuted
+// - in_any : The command input data
+//
+// returns : The command output data (packed in the Any object)
+//
+//-----------------------------------------------------------------------------
+CORBA::Any *Axis1_MoveAbsoluteCmd::execute(Tango::DeviceImpl *device,const CORBA::Any &in_any)
+{
+
+ cout2 << "Axis1_MoveAbsoluteCmd::execute(): arrived" << endl;
+
+ Tango::DevLong argin;
+ extract(in_any, argin);
+
+ ((static_cast<Aml *>(device))->axis1__move_absolute(argin));
+ return new CORBA::Any();
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : Axis2_MoveRelativeCmd::execute()
+//
+// description : method to trigger the execution of the command.
+// PLEASE DO NOT MODIFY this method core without pogo
+//
+// in : - device : The device on which the command must be excuted
+// - in_any : The command input data
+//
+// returns : The command output data (packed in the Any object)
+//
+//-----------------------------------------------------------------------------
+CORBA::Any *Axis2_MoveRelativeCmd::execute(Tango::DeviceImpl *device,const CORBA::Any &in_any)
+{
+
+ cout2 << "Axis2_MoveRelativeCmd::execute(): arrived" << endl;
+
+ Tango::DevLong argin;
+ extract(in_any, argin);
+
+ ((static_cast<Aml *>(device))->axis2__move_relative(argin));
+ return new CORBA::Any();
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : Axis1_MoveRelativeCmd::execute()
+//
+// description : method to trigger the execution of the command.
+// PLEASE DO NOT MODIFY this method core without pogo
+//
+// in : - device : The device on which the command must be excuted
+// - in_any : The command input data
+//
+// returns : The command output data (packed in the Any object)
+//
+//-----------------------------------------------------------------------------
+CORBA::Any *Axis1_MoveRelativeCmd::execute(Tango::DeviceImpl *device,const CORBA::Any &in_any)
+{
+
+ cout2 << "Axis1_MoveRelativeCmd::execute(): arrived" << endl;
+
+ Tango::DevLong argin;
+ extract(in_any, argin);
+
+ ((static_cast<Aml *>(device))->axis1__move_relative(argin));
+ return new CORBA::Any();
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : GetPositionClass::execute()
+//
+// description : method to trigger the execution of the command.
+// PLEASE DO NOT MODIFY this method core without pogo
+//
+// in : - device : The device on which the command must be excuted
+// - in_any : The command input data
+//
+// returns : The command output data (packed in the Any object)
+//
+//-----------------------------------------------------------------------------
+CORBA::Any *GetPositionClass::execute(Tango::DeviceImpl *device,const CORBA::Any &in_any)
+{
+
+ cout2 << "GetPositionClass::execute(): arrived" << endl;
+
+ Tango::DevShort argin;
+ extract(in_any, argin);
+
+ return insert((static_cast<Aml *>(device))->get_position(argin));
+}
+
+
+
+
+
+
+
+//+----------------------------------------------------------------------------
+//
+// method : InitMotorCmd::execute()
+//
+// description : method to trigger the execution of the command.
+// PLEASE DO NOT MODIFY this method core without pogo
+//
+// in : - device : The device on which the command must be excuted
+// - in_any : The command input data
+//
+// returns : The command output data (packed in the Any object)
+//
+//-----------------------------------------------------------------------------
+CORBA::Any *InitMotorCmd::execute(Tango::DeviceImpl *device,const CORBA::Any &in_any)
+{
+
+ cout2 << "InitMotorCmd::execute(): arrived" << endl;
+
+ ((static_cast<Aml *>(device))->init_motor());
+ return new CORBA::Any();
+}
+
+
+
+//
+//----------------------------------------------------------------
+// Initialize pointer for singleton pattern
+//----------------------------------------------------------------
+//
+AmlClass *AmlClass::_instance = NULL;
+
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::AmlClass(string &s)
+//
+// description : constructor for the AmlClass
+//
+// in : - s : The class name
+//
+//-----------------------------------------------------------------------------
+AmlClass::AmlClass(string &s):DeviceClass(s)
+{
+
+ cout2 << "Entering AmlClass constructor" << endl;
+ get_class_property();
+ set_default_property();
+ write_class_property();
+
+ cout2 << "Leaving AmlClass constructor" << endl;
+
+}
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::~AmlClass()
+//
+// description : destructor for the AmlClass
+//
+//-----------------------------------------------------------------------------
+AmlClass::~AmlClass()
+{
+ _instance = NULL;
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::instance
+//
+// description : Create the object if not already done. Otherwise, just
+// return a pointer to the object
+//
+// in : - name : The class name
+//
+//-----------------------------------------------------------------------------
+AmlClass *AmlClass::init(const char *name)
+{
+ if (_instance == NULL)
+ {
+ try
+ {
+ string s(name);
+ _instance = new AmlClass(s);
+ }
+ catch (bad_alloc)
+ {
+ throw;
+ }
+ }
+ return _instance;
+}
+
+AmlClass *AmlClass::instance()
+{
+ if (_instance == NULL)
+ {
+ cerr << "Class is not initialised !!" << endl;
+ exit(-1);
+ }
+ return _instance;
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::command_factory
+//
+// description : Create the command object(s) and store them in the
+// command list
+//
+//-----------------------------------------------------------------------------
+void AmlClass::command_factory()
+{
+ command_list.push_back(new Axis1_MoveRelativeCmd("Axis1_MoveRelative",
+ Tango::DEV_LONG, Tango::DEV_VOID,
+ "",
+ "",
+ Tango::OPERATOR));
+ command_list.push_back(new Axis2_MoveRelativeCmd("Axis2_MoveRelative",
+ Tango::DEV_LONG, Tango::DEV_VOID,
+ "",
+ "",
+ Tango::OPERATOR));
+ command_list.push_back(new Axis1_MoveAbsoluteCmd("Axis1_MoveAbsolute",
+ Tango::DEV_LONG, Tango::DEV_VOID,
+ "",
+ "",
+ Tango::OPERATOR));
+ command_list.push_back(new Axis2_MoveAbsoluteCmd("Axis2_MoveAbsolute",
+ Tango::DEV_LONG, Tango::DEV_VOID,
+ "",
+ "",
+ Tango::OPERATOR));
+ command_list.push_back(new InitMotorCmd("InitMotor",
+ Tango::DEV_VOID, Tango::DEV_VOID,
+ "",
+ "",
+ Tango::OPERATOR));
+ command_list.push_back(new StopCmd("Stop",
+ Tango::DEV_SHORT, Tango::DEV_VOID,
+ "",
+ "",
+ Tango::OPERATOR));
+ command_list.push_back(new GetPositionClass("GetPosition",
+ Tango::DEV_SHORT, Tango::DEV_LONG,
+ "",
+ "",
+ Tango::OPERATOR));
+
+ // add polling if any
+ for (unsigned int i=0 ; i<command_list.size(); i++)
+ {
+ }
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::get_class_property
+//
+// description : Get the class property for specified name.
+//
+// in : string name : The property name
+//
+//+----------------------------------------------------------------------------
+Tango::DbDatum AmlClass::get_class_property(string &prop_name)
+{
+ for (unsigned int i=0 ; i<cl_prop.size() ; i++)
+ if (cl_prop[i].name == prop_name)
+ return cl_prop[i];
+ // if not found, return an empty DbDatum
+ return Tango::DbDatum(prop_name);
+}
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::get_default_device_property()
+//
+// description : Return the default value for device property.
+//
+//-----------------------------------------------------------------------------
+Tango::DbDatum AmlClass::get_default_device_property(string &prop_name)
+{
+ for (unsigned int i=0 ; i<dev_def_prop.size() ; i++)
+ if (dev_def_prop[i].name == prop_name)
+ return dev_def_prop[i];
+ // if not found, return an empty DbDatum
+ return Tango::DbDatum(prop_name);
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::get_default_class_property()
+//
+// description : Return the default value for class property.
+//
+//-----------------------------------------------------------------------------
+Tango::DbDatum AmlClass::get_default_class_property(string &prop_name)
+{
+ for (unsigned int i=0 ; i<cl_def_prop.size() ; i++)
+ if (cl_def_prop[i].name == prop_name)
+ return cl_def_prop[i];
+ // if not found, return an empty DbDatum
+ return Tango::DbDatum(prop_name);
+}
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::device_factory
+//
+// description : Create the device object(s) and store them in the
+// device list
+//
+// in : Tango::DevVarStringArray *devlist_ptr : The device name list
+//
+//-----------------------------------------------------------------------------
+void AmlClass::device_factory(const Tango::DevVarStringArray *devlist_ptr)
+{
+
+ // Create all devices.(Automatic code generation)
+ //-------------------------------------------------------------
+ for (unsigned long i=0 ; i < devlist_ptr->length() ; i++)
+ {
+ cout4 << "Device name : " << (*devlist_ptr)[i].in() << endl;
+
+ // Create devices and add it into the device list
+ //----------------------------------------------------
+ device_list.push_back(new Aml(this, (*devlist_ptr)[i]));
+
+ // Export device to the outside world
+ // Check before if database used.
+ //---------------------------------------------
+ if ((Tango::Util::_UseDb == true) && (Tango::Util::_FileDb == false))
+ export_device(device_list.back());
+ else
+ export_device(device_list.back(), (*devlist_ptr)[i]);
+ }
+ // End of Automatic code generation
+ //-------------------------------------------------------------
+
+}
+//+----------------------------------------------------------------------------
+// Method: AmlClass::attribute_factory(vector<Tango::Attr *> &att_list)
+//-----------------------------------------------------------------------------
+void AmlClass::attribute_factory(vector<Tango::Attr *> &att_list)
+{
+ // Attribute : Axis1_Position
+ Axis1_PositionAttrib *axis1__position = new Axis1_PositionAttrib();
+ att_list.push_back(axis1__position);
+
+ // Attribute : Axis2_Position
+ Axis2_PositionAttrib *axis2__position = new Axis2_PositionAttrib();
+ att_list.push_back(axis2__position);
+
+ // End of Automatic code generation
+ //-------------------------------------------------------------
+}
+
+
+
+
+
+
+
+
+
+
+
+
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::get_class_property()
+//
+// description : Read the class properties from database.
+//
+//-----------------------------------------------------------------------------
+void AmlClass::get_class_property()
+{
+ // Initialize your default values here (if not done with POGO).
+ //------------------------------------------------------------------
+
+ // Read class properties from database.(Automatic code generation)
+ //------------------------------------------------------------------
+
+ // Call database and extract values
+ //--------------------------------------------
+ if (Tango::Util::instance()->_UseDb==true)
+ get_db_class()->get_property(cl_prop);
+ Tango::DbDatum def_prop;
+ int i = -1;
+
+
+ // End of Automatic code generation
+ //------------------------------------------------------------------
+
+}
+
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::set_default_property
+//
+// description: Set default property (class and device) for wizard.
+// For each property, add to wizard property name and description
+// If default value has been set, add it to wizard property and
+// store it in a DbDatum.
+//
+//-----------------------------------------------------------------------------
+void AmlClass::set_default_property()
+{
+ string prop_name;
+ string prop_desc;
+ string prop_def;
+
+ vector<string> vect_data;
+ // Set Default Class Properties
+ // Set Default Device Properties
+ prop_name = "LogicalName";
+ prop_desc = "";
+ prop_def = "MOTOR_";
+ vect_data.clear();
+ vect_data.push_back("MOTOR_");
+ 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);
+
+ prop_name = "SerialPort";
+ prop_desc = "Serial port device (ttyS0,ttyS1, ...)";
+ prop_def = "ttyS0";
+ vect_data.clear();
+ vect_data.push_back("ttyS0");
+ 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);
+
+ prop_name = "ControllerVersion";
+ prop_desc = "";
+ prop_def = "0";
+ vect_data.clear();
+ vect_data.push_back("0");
+ 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);
+
+ prop_name = "Axis1_Name";
+ prop_desc = "";
+ prop_def = "";
+ 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);
+
+ prop_name = "Axis1_MinStepRate1";
+ prop_desc = "";
+ prop_def = "100";
+ vect_data.clear();
+ vect_data.push_back("100");
+ 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);
+
+ prop_name = "Axis1_MinStepRate2";
+ prop_desc = "";
+ prop_def = "70";
+ vect_data.clear();
+ vect_data.push_back("70");
+ 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);
+
+ prop_name = "Axis1_MinStepRate3";
+ prop_desc = "";
+ prop_def = "50";
+ vect_data.clear();
+ vect_data.push_back("50");
+ 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);
+
+ prop_name = "Axis1_PhaseCurrent";
+ prop_desc = "";
+ prop_def = "50";
+ vect_data.clear();
+ vect_data.push_back("50");
+ 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);
+
+ prop_name = "Axis1_Ramp";
+ prop_desc = "";
+ prop_def = "100";
+ vect_data.clear();
+ vect_data.push_back("100");
+ 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);
+
+ prop_name = "Axis1_StartStopSpeed";
+ prop_desc = "";
+ prop_def = "400";
+ vect_data.clear();
+ vect_data.push_back("400");
+ 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);
+
+ prop_name = "Axis1_SleewSpeed";
+ prop_desc = "";
+ prop_def = "500";
+ vect_data.clear();
+ vect_data.push_back("500");
+ 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);
+
+ prop_name = "Axis1_Range";
+ prop_desc = "";
+ prop_def = "15000";
+ vect_data.clear();
+ vect_data.push_back("15000");
+ 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);
+
+ prop_name = "Axis1_SetAccelerAndRetardPars";
+ prop_desc = "";
+ prop_def = "X400,500,100";
+ vect_data.clear();
+ vect_data.push_back("X400,500,100");
+ 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);
+
+ prop_name = "Axis2_Name";
+ prop_desc = "";
+ prop_def = "";
+ 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);
+
+ prop_name = "Axis2_MinStepRate1";
+ prop_desc = "";
+ prop_def = "100";
+ vect_data.clear();
+ vect_data.push_back("100");
+ 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);
+
+ prop_name = "Axis2_MinStepRate2";
+ prop_desc = "";
+ prop_def = "70";
+ vect_data.clear();
+ vect_data.push_back("70");
+ 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);
+
+ prop_name = "Axis2_MinStepRate3";
+ prop_desc = "";
+ prop_def = "50";
+ vect_data.clear();
+ vect_data.push_back("50");
+ 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);
+
+ prop_name = "Axis2_PhaseCurrent";
+ prop_desc = "";
+ prop_def = "50";
+ vect_data.clear();
+ vect_data.push_back("50");
+ 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);
+
+ prop_name = "Axis2_Ramp";
+ prop_desc = "";
+ prop_def = "100";
+ vect_data.clear();
+ vect_data.push_back("100");
+ 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);
+
+ prop_name = "Axis2_StartStopSpeed";
+ prop_desc = "";
+ prop_def = "400";
+ vect_data.clear();
+ vect_data.push_back("400");
+ 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);
+
+ prop_name = "Axis2_SleewSpeed";
+ prop_desc = "";
+ prop_def = "500";
+ vect_data.clear();
+ vect_data.push_back("500");
+ 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);
+
+ prop_name = "Axis2_Range";
+ prop_desc = "";
+ prop_def = "15000";
+ vect_data.clear();
+ vect_data.push_back("15000");
+ 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);
+
+ prop_name = "Axis2_SetAccelerAndRetardPars";
+ prop_desc = "";
+ prop_def = "X400,500,100";
+ vect_data.clear();
+ vect_data.push_back("X400,500,100");
+ 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);
+
+}
+//+----------------------------------------------------------------------------
+//
+// method : AmlClass::write_class_property
+//
+// description : Set class description as property in database
+//
+//-----------------------------------------------------------------------------
+void AmlClass::write_class_property()
+{
+ // First time, check if database used
+ //--------------------------------------------
+ if (Tango::Util::_UseDb == false)
+ return;
+
+ Tango::DbData data;
+ string classname = get_name();
+ string header;
+ string::size_type start, end;
+
+ // Put title
+ Tango::DbDatum title("ProjectTitle");
+ string str_title("");
+ title << str_title;
+ data.push_back(title);
+
+ // Put Description
+ Tango::DbDatum description("Description");
+ vector<string> str_desc;
+ str_desc.push_back(" ");
+ description << str_desc;
+ data.push_back(description);
+
+ // put cvs location
+ string rcsId(RcsId);
+ string filename(classname);
+ start = rcsId.find("/");
+ if (start!=string::npos)
+ {
+ filename += "Class.cpp";
+ end = rcsId.find(filename);
+ if (end>start)
+ {
+ string strloc = rcsId.substr(start, end-start);
+ // Check if specific repository
+ start = strloc.find("/cvsroot/");
+ if (start!=string::npos && start>0)
+ {
+ string repository = strloc.substr(0, start);
+ if (repository.find("/segfs/")!=string::npos)
+ strloc = "ESRF:" + strloc.substr(start, strloc.length()-start);
+ }
+ Tango::DbDatum cvs_loc("cvs_location");
+ cvs_loc << strloc;
+ data.push_back(cvs_loc);
+ }
+ }
+
+ // Get CVS tag revision
+ string tagname(TagName);
+ header = "$Name: ";
+ start = header.length();
+ string endstr(" $");
+ end = tagname.find(endstr);
+ if (end!=string::npos && end>start)
+ {
+ string strtag = tagname.substr(start, end-start);
+ Tango::DbDatum cvs_tag("cvs_tag");
+ cvs_tag << strtag;
+ data.push_back(cvs_tag);
+ }
+
+ // Get URL location
+ string httpServ(HttpServer);
+ if (httpServ.length()>0)
+ {
+ Tango::DbDatum db_doc_url("doc_url");
+ db_doc_url << httpServ;
+ data.push_back(db_doc_url);
+ }
+
+ // Put inheritance
+ Tango::DbDatum inher_datum("InheritedFrom");
+ vector<string> inheritance;
+ inheritance.push_back("Device_4Impl");
+ inher_datum << inheritance;
+ data.push_back(inher_datum);
+
+ // Call database and and values
+ //--------------------------------------------
+ get_db_class()->put_property(data);
+}
+
+} // namespace
diff --git a/src/AmlClass.h b/src/AmlClass.h
new file mode 100644
index 0000000000000000000000000000000000000000..89f190e608848d1a19bfce143ca795be03e7f58c
--- /dev/null
+++ b/src/AmlClass.h
@@ -0,0 +1,283 @@
+//=============================================================================
+//
+// file : AmlClass.h
+//
+// description : Include for the AmlClass root class.
+// This class is represents the singleton class for
+// the Aml device class.
+// It contains all properties and methods which the
+// Aml requires only once e.g. the commands.
+//
+// project : TANGO Device Server
+//
+// $Author: $
+//
+// $Revision: $
+//
+// $Log: $
+//
+// copyleft : European Synchrotron Radiation Facility
+// BP 220, Grenoble 38043
+// FRANCE
+//
+//=============================================================================
+//
+// This file is generated by POGO
+// (Program Obviously used to Generate tango Object)
+//
+// (c) - Software Engineering Group - ESRF
+//=============================================================================
+
+#ifndef _AMLCLASS_H
+#define _AMLCLASS_H
+
+#include <tango.h>
+#include <Aml.h>
+
+
+namespace Aml_ns
+{
+//=====================================
+// Define classes for attributes
+//=====================================
+class Axis2_PositionAttrib: public Tango::Attr
+{
+public:
+ Axis2_PositionAttrib():Attr("Axis2_Position", Tango::DEV_LONG, Tango::READ) {};
+ ~Axis2_PositionAttrib() {};
+
+ virtual void read(Tango::DeviceImpl *dev,Tango::Attribute &att)
+ {(static_cast<Aml *>(dev))->read_Axis2_Position(att);}
+ virtual bool is_allowed(Tango::DeviceImpl *dev,Tango::AttReqType ty)
+ {return (static_cast<Aml *>(dev))->is_Axis2_Position_allowed(ty);}
+};
+
+class Axis1_PositionAttrib: public Tango::Attr
+{
+public:
+ Axis1_PositionAttrib():Attr("Axis1_Position", Tango::DEV_LONG, Tango::READ) {};
+ ~Axis1_PositionAttrib() {};
+
+ virtual void read(Tango::DeviceImpl *dev,Tango::Attribute &att)
+ {(static_cast<Aml *>(dev))->read_Axis1_Position(att);}
+ virtual bool is_allowed(Tango::DeviceImpl *dev,Tango::AttReqType ty)
+ {return (static_cast<Aml *>(dev))->is_Axis1_Position_allowed(ty);}
+};
+
+//=========================================
+// Define classes for commands
+//=========================================
+class GetPositionClass : public Tango::Command
+{
+public:
+ GetPositionClass(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out,
+ const char *in_desc,
+ const char *out_desc,
+ Tango::DispLevel level)
+ :Command(name,in,out,in_desc,out_desc, level) {};
+
+ GetPositionClass(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out)
+ :Command(name,in,out) {};
+ ~GetPositionClass() {};
+
+ virtual CORBA::Any *execute (Tango::DeviceImpl *dev, const CORBA::Any &any);
+ virtual bool is_allowed (Tango::DeviceImpl *dev, const CORBA::Any &any)
+ {return (static_cast<Aml *>(dev))->is_GetPosition_allowed(any);}
+};
+
+
+
+class StopCmd : public Tango::Command
+{
+public:
+ StopCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out,
+ const char *in_desc,
+ const char *out_desc,
+ Tango::DispLevel level)
+ :Command(name,in,out,in_desc,out_desc, level) {};
+
+ StopCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out)
+ :Command(name,in,out) {};
+ ~StopCmd() {};
+
+ virtual CORBA::Any *execute (Tango::DeviceImpl *dev, const CORBA::Any &any);
+ virtual bool is_allowed (Tango::DeviceImpl *dev, const CORBA::Any &any)
+ {return (static_cast<Aml *>(dev))->is_Stop_allowed(any);}
+};
+
+
+
+class InitMotorCmd : public Tango::Command
+{
+public:
+ InitMotorCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out,
+ const char *in_desc,
+ const char *out_desc,
+ Tango::DispLevel level)
+ :Command(name,in,out,in_desc,out_desc, level) {};
+
+ InitMotorCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out)
+ :Command(name,in,out) {};
+ ~InitMotorCmd() {};
+
+ virtual CORBA::Any *execute (Tango::DeviceImpl *dev, const CORBA::Any &any);
+ virtual bool is_allowed (Tango::DeviceImpl *dev, const CORBA::Any &any)
+ {return (static_cast<Aml *>(dev))->is_InitMotor_allowed(any);}
+};
+
+
+
+class Axis2_MoveAbsoluteCmd : public Tango::Command
+{
+public:
+ Axis2_MoveAbsoluteCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out,
+ const char *in_desc,
+ const char *out_desc,
+ Tango::DispLevel level)
+ :Command(name,in,out,in_desc,out_desc, level) {};
+
+ Axis2_MoveAbsoluteCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out)
+ :Command(name,in,out) {};
+ ~Axis2_MoveAbsoluteCmd() {};
+
+ virtual CORBA::Any *execute (Tango::DeviceImpl *dev, const CORBA::Any &any);
+ virtual bool is_allowed (Tango::DeviceImpl *dev, const CORBA::Any &any)
+ {return (static_cast<Aml *>(dev))->is_Axis2_MoveAbsolute_allowed(any);}
+};
+
+
+
+class Axis1_MoveAbsoluteCmd : public Tango::Command
+{
+public:
+ Axis1_MoveAbsoluteCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out,
+ const char *in_desc,
+ const char *out_desc,
+ Tango::DispLevel level)
+ :Command(name,in,out,in_desc,out_desc, level) {};
+
+ Axis1_MoveAbsoluteCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out)
+ :Command(name,in,out) {};
+ ~Axis1_MoveAbsoluteCmd() {};
+
+ virtual CORBA::Any *execute (Tango::DeviceImpl *dev, const CORBA::Any &any);
+ virtual bool is_allowed (Tango::DeviceImpl *dev, const CORBA::Any &any)
+ {return (static_cast<Aml *>(dev))->is_Axis1_MoveAbsolute_allowed(any);}
+};
+
+
+
+class Axis2_MoveRelativeCmd : public Tango::Command
+{
+public:
+ Axis2_MoveRelativeCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out,
+ const char *in_desc,
+ const char *out_desc,
+ Tango::DispLevel level)
+ :Command(name,in,out,in_desc,out_desc, level) {};
+
+ Axis2_MoveRelativeCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out)
+ :Command(name,in,out) {};
+ ~Axis2_MoveRelativeCmd() {};
+
+ virtual CORBA::Any *execute (Tango::DeviceImpl *dev, const CORBA::Any &any);
+ virtual bool is_allowed (Tango::DeviceImpl *dev, const CORBA::Any &any)
+ {return (static_cast<Aml *>(dev))->is_Axis2_MoveRelative_allowed(any);}
+};
+
+
+
+class Axis1_MoveRelativeCmd : public Tango::Command
+{
+public:
+ Axis1_MoveRelativeCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out,
+ const char *in_desc,
+ const char *out_desc,
+ Tango::DispLevel level)
+ :Command(name,in,out,in_desc,out_desc, level) {};
+
+ Axis1_MoveRelativeCmd(const char *name,
+ Tango::CmdArgType in,
+ Tango::CmdArgType out)
+ :Command(name,in,out) {};
+ ~Axis1_MoveRelativeCmd() {};
+
+ virtual CORBA::Any *execute (Tango::DeviceImpl *dev, const CORBA::Any &any);
+ virtual bool is_allowed (Tango::DeviceImpl *dev, const CORBA::Any &any)
+ {return (static_cast<Aml *>(dev))->is_Axis1_MoveRelative_allowed(any);}
+};
+
+
+
+//
+// The AmlClass singleton definition
+//
+
+class
+#ifdef WIN32
+ __declspec(dllexport)
+#endif
+ AmlClass : public Tango::DeviceClass
+{
+public:
+// properties member data
+
+// add your own data members here
+//------------------------------------
+
+public:
+ Tango::DbData cl_prop;
+ Tango::DbData cl_def_prop;
+ Tango::DbData dev_def_prop;
+
+// Method prototypes
+ static AmlClass *init(const char *);
+ static AmlClass *instance();
+ ~AmlClass();
+ Tango::DbDatum get_class_property(string &);
+ Tango::DbDatum get_default_device_property(string &);
+ Tango::DbDatum get_default_class_property(string &);
+
+protected:
+ AmlClass(string &);
+ static AmlClass *_instance;
+ void command_factory();
+ void get_class_property();
+ void attribute_factory(vector<Tango::Attr *> &);
+ void write_class_property();
+ void set_default_property();
+
+private:
+ void device_factory(const Tango::DevVarStringArray *);
+};
+
+
+} // namespace Aml_ns
+
+#endif // _AMLCLASS_H
diff --git a/src/AmlStateMachine.cpp b/src/AmlStateMachine.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fd3b2d96c2ede4c7fda166f8ea65c5acb6796dc8
--- /dev/null
+++ b/src/AmlStateMachine.cpp
@@ -0,0 +1,183 @@
+static const char *RcsId = "$Header: $";
+//+=============================================================================
+//
+// file : AmlStateMachine.cpp
+//
+// description : C++ source for the Aml and its alowed.
+// method for commands and attributes
+//
+// project : TANGO Device Server
+//
+// $Author: $
+//
+// $Revision: $
+//
+// $Log: $
+//
+// copyleft : European Synchrotron Radiation Facility
+// BP 220, Grenoble 38043
+// FRANCE
+//
+//-=============================================================================
+//
+// This file is generated by POGO
+// (Program Obviously used to Generate tango Object)
+//
+// (c) - Software Engineering Group - ESRF
+//=============================================================================
+
+#include <tango.h>
+#include <Aml.h>
+#include <AmlClass.h>
+
+/*====================================================================
+ * This file contains the methods to allow commands and attributes
+ * read or write execution.
+ *
+ * If you wand to add your own code, add it between
+ * the "End/Re-Start of Generated Code" comments.
+ *
+ * If you want, you can also add your own methods.
+ *====================================================================
+ */
+
+namespace Aml_ns
+{
+
+//=================================================
+// Attributes Allowed Methods
+//=================================================
+
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_Axis1_Position_allowed
+//
+// description : Read/Write allowed for Axis1_Position attribute.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_Axis1_Position_allowed(Tango::AttReqType type)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_Axis2_Position_allowed
+//
+// description : Read/Write allowed for Axis2_Position attribute.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_Axis2_Position_allowed(Tango::AttReqType type)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+
+//=================================================
+// Commands Allowed Methods
+//=================================================
+
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_InitMotor_allowed
+//
+// description : Execution allowed for InitMotor command.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_InitMotor_allowed(const CORBA::Any &any)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_Stop_allowed
+//
+// description : Execution allowed for Stop command.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_Stop_allowed(const CORBA::Any &any)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_GetPosition_allowed
+//
+// description : Execution allowed for GetPosition command.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_GetPosition_allowed(const CORBA::Any &any)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_Axis1_MoveRelative_allowed
+//
+// description : Execution allowed for Axis1_MoveRelative command.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_Axis1_MoveRelative_allowed(const CORBA::Any &any)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_Axis2_MoveRelative_allowed
+//
+// description : Execution allowed for Axis2_MoveRelative command.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_Axis2_MoveRelative_allowed(const CORBA::Any &any)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_Axis1_MoveAbsolute_allowed
+//
+// description : Execution allowed for Axis1_MoveAbsolute command.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_Axis1_MoveAbsolute_allowed(const CORBA::Any &any)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+//+----------------------------------------------------------------------------
+//
+// method : Aml::is_Axis2_MoveAbsolute_allowed
+//
+// description : Execution allowed for Axis2_MoveAbsolute command.
+//
+//-----------------------------------------------------------------------------
+bool Aml::is_Axis2_MoveAbsolute_allowed(const CORBA::Any &any)
+{
+ // End of Generated Code
+
+ // Re-Start of Generated Code
+ return true;
+}
+
+} // namespace Aml_ns
diff --git a/src/ClassFactory.cpp b/src/ClassFactory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4bf31e4ec838a39df65269f51d399455ce0492cd
--- /dev/null
+++ b/src/ClassFactory.cpp
@@ -0,0 +1,44 @@
+static const char *RcsId = "$Header: $";
+//+=============================================================================
+//
+// file : ClassFactory.cpp
+//
+// description : C++ source for the class_factory method of the DServer
+// device class. This method is responsible to create
+// all class singletin for a device server. It is called
+// at device server startup
+//
+// project : TANGO Device Server
+//
+// $Author: $
+//
+// $Revision: $
+//
+// $Log: $
+//
+// copyleft : European Synchrotron Radiation Facility
+// BP 220, Grenoble 38043
+// FRANCE
+//
+//-=============================================================================
+//
+// This file is generated by POGO
+// (Program Obviously used to Generate tango Object)
+//
+// (c) - Software Engineering Group - ESRF
+//=============================================================================
+
+
+#include <tango.h>
+#include <AmlClass.h>
+
+/**
+ * Create AmlClass singleton and store it in DServer object.
+ */
+
+void Tango::DServer::class_factory()
+{
+
+ add_class(Aml_ns::AmlClass::init("Aml"));
+
+}
diff --git a/src/Makefile b/src/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..615d29dafb83047835f9b29ece4f09a4dd16e33c
--- /dev/null
+++ b/src/Makefile
@@ -0,0 +1,149 @@
+#PROTECTED REGION ID(NiMotionBoard::Makefile) ENABLED START#
+#=============================================================================
+#
+# file : Makefile
+#
+# description : Makefile to generate a TANGO device server.
+#
+# project : Aml motors
+#
+# $Author: $
+#
+# $Revision: $
+#
+# $Log: $
+#
+#=============================================================================
+# This file is generated by POGO
+# (Program Obviously used to Generate tango Object)
+#=============================================================================
+#
+#
+#=============================================================================
+# MAKE_ENV is the path to find common environment to buil project
+#
+MAKE_ENV = /opt/tango-8.1.2c/share/pogo/preferences
+
+#=============================================================================
+# PACKAGE_NAME is the name of the library/device/exe you want to build
+#
+PACKAGE_NAME = Aml
+MAJOR_VERS = 1
+MINOR_VERS = 0
+RELEASE = Release_$(MAJOR_VERS)_$(MINOR_VERS)
+
+# #=============================================================================
+# # RELEASE_TYPE
+# # - DEBUG : debug symbols - no optimization
+# # - OPTIMIZED : no debug symbols - optimization level set to O2
+# #-----------------------------------------------------------------------------
+RELEASE_TYPE = DEBUG
+
+#=============================================================================
+# OUTPUT_TYPE can be one of the following :
+# - 'STATIC_LIB' for a static library (.a)
+# - 'SHARED_LIB' for a dynamic library (.so)
+# - 'DEVICE' for a device server (will automatically include and link
+# with Tango dependencies)
+# - 'SIMPLE_EXE' for an executable with no dependency (for exemple the test tool
+# of a library with no Tango dependencies)
+#
+OUTPUT_TYPE = DEVICE
+
+#=============================================================================
+# OUTPUT_DIR is the directory which contains the build result.
+# if not set, the standard location is :
+# - $HOME/DeviceServers if OUTPUT_TYPE is DEVICE
+# - ../bin for others
+#
+OUTPUT_DIR = ./bin/$(BIN_DIR)
+
+
+
+#=============================================================================
+# INC_DIR_USER is the list of all include path needed by your sources
+# - for a device server, tango dependencies are automatically appended
+# - '-I ../include' and '-I .' are automatically appended in all cases
+#
+#
+INC_DIR_USER= -I .
+
+
+#=============================================================================
+# LIB_DIR_USER is the list of user library directories
+# - for a device server, tango libraries directories are automatically appended
+# - '-L ../lib' is automatically appended in all cases
+#
+LIB_DIR_USER=
+
+#=============================================================================
+# LFLAGS_USR is the list of user link flags
+# - for a device server, tango libraries directories are automatically appended
+# - '-ldl -lpthread' is automatically appended in all cases
+#
+# !!! ATTENTION !!!
+# Be aware that the order matters.
+# For example if you must link with libA, and if libA depends itself on libB
+# you must use '-lA -lB' in this order as link flags, otherwise you will get
+# 'undefined reference' errors
+#
+#LFLAGS_USR+=
+
+
+#=============================================================================
+# CXXFLAGS_USR lists the compilation flags specific for your library/device/exe
+# This is the place where to put your compile-time macros using '-Dmy_macro'
+#
+# -DACE_HAS_EXCEPTIONS -D__ACE_INLINE__ for ACE
+#
+#CXXFLAGS_USR+= -Wall
+
+
+#=============================================================================
+# TANGO_REQUIRED
+# - TRUE : your project depends on TANGO
+# - FALSE : your project does not depend on TANGO
+#-----------------------------------------------------------------------------
+# - NOTE : if PROJECT_TYPE is set to DEVICE, TANGO will be auto. added
+#-----------------------------------------------------------------------------
+TANGO_REQUIRED = TRUE
+
+
+
+#=============================================================================
+# include Standard TANGO compilation options
+#
+include $(MAKE_ENV)/tango.opt
+
+#=============================================================================
+# POST_PROCESSING: action to be done after normal make.
+# e.g.: change executable file name, .....
+#POST_PROCESSING = \
+# mv bin/$(BIN_DIR)/$(PACKAGE_NAME) bin/$(BIN_DIR)/$(PACKAGE_NAME)_DS
+
+#=============================================================================
+# SVC_OBJS is the list of all objects needed to make the output
+#
+SVC_INCL = $(PACKAGE_NAME).h $(PACKAGE_NAME)Class.h
+
+
+SVC_OBJS = \
+ $(OBJDIR)/$(PACKAGE_NAME).o \
+ $(OBJDIR)/$(PACKAGE_NAME)Class.o \
+ $(OBJDIR)/$(PACKAGE_NAME)StateMachine.o \
+ $(OBJDIR)/ClassFactory.o \
+ $(OBJDIR)/main.o \
+ $(ADDITIONAL_OBJS)
+
+
+#------------ Object files for additional files ------------
+ADDITIONAL_OBJS =
+
+#=============================================================================
+# include common targets
+#
+include $(MAKE_ENV)/common_target.opt
+
+
+
+#PROTECTED REGION END#
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..41f82bf8cd77edb63e7eb5fa87b3d35a4e7d1be0
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,68 @@
+static const char *RcsId = "$Header: $";
+//+=============================================================================
+//
+// file : main.cpp
+//
+// description : C++ source for a TANGO device server main.
+// The main rule is to initialise (and create) the Tango
+// system and to create the DServerClass singleton.
+// The main should be the same for every Tango device server.
+//
+// project : TANGO Device Server
+//
+// $Author: $
+//
+// $Revision: $ $
+//
+// $Log: $
+//
+// copyleft : European Synchrotron Radiation Facility
+// BP 220, Grenoble 38043
+// FRANCE
+//
+//-=============================================================================
+//
+// This file is generated by POGO
+// (Program Obviously used to Generate tango Object)
+//
+// (c) - Software Engineering Group - ESRF
+//=============================================================================
+
+#include <tango.h>
+
+
+int main(int argc,char *argv[])
+{
+
+ Tango::Util *tg;
+ try
+ {
+ // Initialise the device server
+ //----------------------------------------
+ tg = Tango::Util::init(argc,argv);
+
+ // Create the device server singleton
+ // which will create everything
+ //----------------------------------------
+ tg->server_init(false);
+
+ // Run the endless loop
+ //----------------------------------------
+ cout << "Ready to accept request" << endl;
+ tg->server_run();
+ }
+ catch (bad_alloc)
+ {
+ cout << "Can't allocate memory to store device object !!!" << endl;
+ cout << "Exiting" << endl;
+ }
+ catch (CORBA::Exception &e)
+ {
+ Tango::Except::print_exception(e);
+
+ cout << "Received a CORBA_Exception" << endl;
+ cout << "Exiting" << endl;
+ }
+ tg->server_cleanup();
+ return(0);
+}