passive chopper

src/controllers/lss/d17/D17ChopperController.cpp

+/*
+ * Nomad Instrument Control Software
+ *
+ * Copyright 2011 Institut Laue-Langevin
+ *
+ * Licensed under the EUPL, Version 1.1 only (the "License");
+ * You may not use this work except in compliance with the Licence.
+ * You may obtain a copy of the Licence at:
+ *
+ * http://joinup.ec.europa.eu/software/page/eupl
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the Licence is distributed on an "AS IS" basis,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the Licence for the specific language governing permissions and
+ * limitations under the Licence.
+ */
+#include <cmath>
+#include <boost/thread/thread.hpp>
+#include "Utilities/Calculations.h"
+#include "drivers/legacy/def/CommandDef.h"
+#include "drivers/legacy/def/DriverErrorDef.h"
+#include <controllers/lss/d17/D17ChopperController.h>
+#include "controllers/common/family/Families.h"
+
+using namespace std;
+using namespace chopper;
+
+namespace d17 {
+
+const string D17ChopperController::TYPE = "d17chopper";
+
+/*
+ * constructor
+ */
+D17ChopperController::D17ChopperController(const string& name) :
+		ExperimentController(name) {
+
+	setFamily(family::BEAM_PARAMETERS, family::CHOPPER);
+
+	// Init property
+	speed.init(this, NOSAVE  | SPY, "actual_speed", "Speed");
+	speed.setUnit("rpm");
+	phase.init(this, NOSAVE  | SPY, "actual_phase", "Phase");
+/*	dir.init(this, SAVE | SCAN, "actual_dir", "wanted_dir", "Wanted dir");
+	phase.setUnit("~degree");
+	gear.init(this, SAVE | SCAN, "actual_gear", "wanted_gear", "Wanted Gear");*/
+	//	speed.init(this, SAVE | SCAN | SPY, "actual_direction", "wanted_direction", "Wanted Direction"); //!!!!!!!!
+	periodusec.init(this, NOSAVE, "periodusec");
+	chopperStatus.init(this, NOSAVE, "status");
+	chopperIndice .init(this, SAVE, "chopperIndice");
+ 	actualMaster.init(this, SAVE, "actual_master");
+	isSync.init(this, NOSAVE, "is_sync");
+
+	// Init drivers
+
+	m_NCSDriver.init(this, "ncs_driver");
+
+	// General variable for command
+	registerFunction(TYPE);
+	cout << " registeur type" << endl;
+
+}
+
+/*
+ * destructor
+ */
+D17ChopperController::~D17ChopperController() {
+
+}
+
+/*
+ * postConfiguration
+ */
+void D17ChopperController::postConfiguration() {
+	cout << " ChopperController postConfiguration" << endl;
+	cout << " postConfiguration ok" << endl;
+
+
+
+	registerUpdater(m_NCSDriver->currentSpeed , &D17ChopperController::updateActualSpeed, this);
+	registerUpdater(m_NCSDriver->currentPhase , &D17ChopperController::updateActualPhase, this);
+	registerUpdater(m_NCSDriver->chopperStatus ,&D17ChopperController::updateActualStat, this);
+
+	/*	registerUpdater(m_NCSDriver->currentPhase,  &D17ChopperController::updateActualSpeed, this);
+	registerUpdater(m_NCSDriver->actualPhase, &D17ChopperController::updateActualPhase, this);
+	registerUpdater(m_NCSDriver->actualMaster, &D17ChopperController::updateActualMaster, this);*/
+	// Link with driver update
+//	registerProgression(chopperDriver, &D17ChopperController::updateProgression, this);
+
+	// Call to updaters
+	/*updateActualSpeed(0);
+	updateActualSpeed(1);*/
+//	updateActualPhase();
+
+	// Progression
+	// Update actual status
+	//	chopperStatus = chopperDriver->chopperStatus();
+
+}
+
+/*
+
+ * updateStatus
+*/
+void D17ChopperController::updateActualStat(int32 ki) {
+
+	/*if (ki == chopperIndice() ) {
+		int32 status = m_NCSDriver->chopperStatus.get(ki);
+		chopperStatus = status;
+	}*/
+}
+
+
+void D17ChopperController::updateActualSpeed(int32 ki) {
+	if (ki == chopperIndice() ) {
+		speed = m_NCSDriver->currentSpeed.get(ki);
+	}
+
+}
+
+void D17ChopperController::updateActualPhase(int32 ki) {
+
+	if (ki == chopperIndice() )  {
+		phase = m_NCSDriver->currentPhase.get(ki);
+		cout << " updateActualPhase " << phase() << endl;
+	}
+}
+
+/*
+ * updateProgression
+ */
+void D17ChopperController::updateProgression() {
+	/*int32 lDriverProgression;
+	int32 lPhaseDriverProgression;
+
+	lDriverProgression = chopperDriver->commandProgression();
+	lPhaseDriverProgression = chopperPhaseDriver->commandProgression();
+
+	commandProgression = chopperDriver->commandProgression();	//(lDriverProgression + lPhaseDriverProgression) / 2;*/
+}
+
+
+/*
+ * test
+ */
+void D17ChopperController::test() {
+
+	//assertTrue(1 == 2);
+}
+
+}

src/controllers/lss/d17/D17ChopperController.h

+/*
+ * Nomad Instrument Control Software
+ *
+ * Copyright 2011 Institut Laue-Langevin
+ *
+ * Licensed under the EUPL, Version 1.1 only (the "License");
+ * You may not use this work except in compliance with the Licence.
+ * You may obtain a copy of the Licence at:
+ *
+ * http://joinup.ec.europa.eu/software/page/eupl
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the Licence is distributed on an "AS IS" basis,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the Licence for the specific language governing permissions and
+ * limitations under the Licence.
+ */
+
+#ifndef D17CHOPPERCONTROLLER_H
+#define D17CHOPPERCONTROLLER_H
+
+#include <Controller.h>
+#include "controllers/common/chopper/ChopperCommon.h"
+#include "controllers/common/chopper/ChopperController.h"
+#include <drivers/astrium/chopper_ncs/ChopperNCSDriver.h>
+
+namespace d17 {
+
+/*!
+ * \class CHOPPERController
+ * \brief Class described the CHOPPER controller functionality
+ *
+ * \par
+ *	This class is implemented simple Chopper functionalities
+ */
+class D17ChopperController: public ExperimentController{
+
+public:
+
+	//! Type of controller
+	static const std::string TYPE;
+
+	/*!
+	 * \brief Constructor
+	 * \param[in] name the name of the experiment controller
+	 */
+	D17ChopperController(const std::string& name);
+
+	/*!
+	 * \brief Destructor
+	 */
+	virtual ~D17ChopperController();
+
+
+//		<PROPERTY name="speed_status" type="int32" spy="true"/>
+	/*!
+	 * Properties
+	 */
+	Property<int32 > speed; 		//!  speed property
+	Property<float64 > phase; 	//!  phase property
+
+	/*Property<int32, SETPOINT > gear; 	//!  phase property
+	Property<std::string, SETPOINT> dir; 	//!  phase property*/
+	Property<float64> periodusec;			//!  period  (Time for on rotation)
+//	Property<int32> minAllowedSpeed;		//!  Speed limits (min)
+//	Property<int32> maxAllowedSpeed;		//!  Speed limits (max)
+	Property<int32> chopperStatus; 			//!  Status property (global for the chopper)
+ 	Property<int32> chopperIndice;
+	Property<int32> actualMaster;
+	Property<int32> isSync;
+
+// 	DriverPtr<chopper::ChopperCommon> chopperDriver; 		//! Chopper driver link (speed card)
+//	DriverPtr<adsorptiontrough::AdsTroughDriver> m_adsDriver; //!  driver link
+
+	DriverPtr<chopper_ncs::chopperNCSDriver> m_NCSDriver;
+
+
+	//DriverPtr<adsorptiontrough::AdsTroughDriver> m_adsDriver; //!  driver link
+
+
+	/*!
+	 * \brief Method called before changing the property value
+	 *
+	 * This method is called after setting configuration during the creation of controller.
+	 */
+	virtual void postConfiguration();
+
+//	/*!
+//	 * \brief Compute estimated positioning time
+//	 * \param[in] inc increment global counter flag
+//	 * \return the estimated time
+//	 */
+//	virtual float64 computeEstimatedTime(bool inc);
+
+	  void setMaster();
+	  void brake();
+
+	/*!
+	 * \brief Test method for example.
+	 */
+	virtual void test();
+
+protected:
+
+
+
+
+	/*!
+		 * \brief update the actual speed property from driver one
+		 */
+	virtual void updateActualSpeed(int32 ki );
+	/*!
+		 * \brief update the actual phase property from driver one
+		 */
+	virtual void updateActualPhase(int32 ki);
+
+	virtual void updateActualStat(int32 ki);
+
+
+	 /*
+	 * \brief update the status property from driver one
+	 */
+	void updateStatus();
+	/*!
+	 * \brief update the progression property from driver one
+	 */
+	void updateProgression();
+
+};
+
+}
+#endif //D17CHOPPERCONTROLLER_H