#ifndef acsexmplDoorImpl_h #define acsexmplDoorImpl_h /******************************************************************************* * ALMA - Atacama Large Millimiter Array * (c) European Southern Observatory, 2002 * Copyright by ESO (in the framework of the ALMA collaboration) * and Cosylab 2002, All rights reserved * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; either * version 2.1 of the License, or (at your option) any later version. * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * * * "@(#) $Id: acsexmplDoorImpl.h,v 1.108 2008/10/09 08:41:11 cparedes Exp $" * * who when what * -------- -------- ---------------------------------------------- * acaproni 2004-04-06 Use the smart pointer for the properties * david 2002-07-02 added GNU license info * blopez 2002-04-05 m_poa declaration removed * blopez 2002-04-04 Modified for ACSDO usage * blopez 2002-03-27 Comments changed to doxygen format * blopez 2002-03-11 Created * */ #ifndef __cplusplus #error This is a C++ include file and cannot be used from plain C #endif ///Contains the defintion of the standard superclass for C++ components #include ///CORBA generated servant stub #include ///Includes for each BACI property used in this example #include #include #include #include ///Include the smart prointer for the properties #include ///Include the acs thread header #include /** @file acsexmplDoorImpl.h */ class Door; // declaration // DoorThread - an ACS thread used by the Door class. // When the reference position changes the door is moved to this // new position, and the device state is defined. class DoorThread : public ACS::Thread { public: DoorThread(const ACE_CString &name, Door * door_ptr, const ACS::TimeInterval& responseTime=ThreadBase::defaultResponseTime, const ACS::TimeInterval& sleepTime=ThreadBase::defaultSleepTime) : ACS::Thread(name) { door_p = door_ptr; } ~DoorThread() { ACS_TRACE("DoorThread::~DoorThread"); } virtual void onStart(); virtual void runLoop(); virtual void onStop(); private: Door * door_p; }; /** @addtogroup ACSEXMPLTOC * @{ * @htmlonly @endhtmlonly */ /** @addtogroup ACSEXMPLTOCCOMPONENTS */ /*@{ */ /** @defgroup ACSEXMPLDOORDOC Door * @{ * @htmlonly

Description

Door, as defined by the IDL interface, is another simple example of a component like Lamp except that it also contains one synchronous method, move(...).  The two asynchronous methods are open() and close() respectively.  This example has four properties and uses an ACS thread.

What can I gain from this example?

  • an example derived from the ACS::CharacteristicComponent IDL interface.
  • overriding component lifecycle methods (see execute).
  • asynchronous method implementation accomplished by inheriting methods from the ActionImplementator class.
  • read-only and read-write property usage.
  • writing values to read-only BACI properties by using the property's underlying DevIO instance.
  • limited exception handling.
  • extensive CORBA error handling.
  • thread management using ACS.
  • standard ACS logging macros.
  • very simple example of a state machine (i.e., the Door's positions).


Links

@endhtmlonly * @} */ /** * Door is a simple component that utilizes just about every ACS API. * This class implements an example device "Door". It provides both synchronous (move(...)) * and asynchronous methods (open() and close()). A control loop thread * simulates the door's movements. Error and exception handling have been * included. * Asynchronous calls are implemented using the callback pattern via a support class. * For each xxx action defined in the IDL interface two methods are provided: * - xxx() just registers the action and installs the callback * - xxxAction() performs (asyncronously) the action and invokes the callback when finished. * The Door::invokeAction method is called by the asynchronous dispatcher whenever there is a * xxx pending action and it calls the corresponding xxxAction method. * @version "@(#) $Id: acsexmplDoorImpl.h,v 1.108 2008/10/09 08:41:11 cparedes Exp $" */ class Door: public baci::CharacteristicComponentImpl, //Standard component superclass public virtual POA_acsexmplBuilding::Door, //CORBA servant stub public baci::ActionImplementator //ACS class used for asynchronous methods { friend void DoorThread::runLoop(); public: /** * Constructor * @param poa poa which will activate this and also all other components * @param name component name */ Door( const ACE_CString& name, maci::ContainerServices * containerServices); /** * Destructor */ virtual ~Door(); /* --------------- [ Action implementator interface ] -------------- */ /** * Action dispatcher function * This function is called whenever an asynchronous request has to be handled. * It receives (as parameters) the description of the function and selects the proper * implementation to call. * @param function action funtion to be invoked * @param component_p owner of the action * @param callbackID id of the callback to be notified * @param descIn callback descriptor (passed by client) * @param value_p action data (e.g., parameters to the original CORBA method) * @param completion error handing structure * @param descOut callback descriptor which will be passed to client * @return request to be performed by BACI *
    *
  • reqNone - do nothing (action will be kept in queue) *
  • reqInvokeWorking - invoke Callback::working *
  • reqInvokeDone - invoke Callback::done and destroy callback *
  • reqDestroy - destroy callback (callback should has been called already by function) *
* @htmlonly
@endhtmlonly */ virtual baci::ActionRequest invokeAction (int function, baci::BACIComponent *component_p, const int &callbackID, const CBDescIn &descIn, baci::BACIValue *value_p, Completion &completion, CBDescOut &descOut); /** * Implementation of asynch. open() method * This is the function that actually opens the Door * and, when completed, invokes the callback installed by the client * when it requested the action. * @param component_p owner of the action * @param callbackID id of the callback to be notified * @param descIn callback descriptor (passed by client) * @param value_p action data (e.g., parameters to the original CORBA method) * @param completion error handing structure * @param descOut callback descriptor which will be passed to client * @return request to be performed by BACI *
    *
  • reqNone - do nothing (action will be kept in queue) *
  • reqInvokeWorking - invoke Callback::working *
  • reqInvokeDone - invoke Callback::done and destroy callback *
  • reqDestroy - destroy callback (callback should has been called already by function) *
* @htmlonly
@endhtmlonly */ virtual baci::ActionRequest openAction (baci::BACIComponent *component_p, const int &callbackID, const CBDescIn &descIn, baci::BACIValue *value_p, Completion &completion, CBDescOut &descOut); /** * Implementation of asynch. close() method * This is the function that actually closes the Door * and, when completed, invokes the callback installed by the client * when it requested the action. * @param component_p owner of the action * @param callbackID id of the callback to be notified * @param descIn callback descriptor (passed by client) * @param value action data (e.g., parameters to the original CORBA method) * @param completion error handing structure * @param descOut callback descriptor which will be passed to client * @return request to be performed by BACI *
    *
  • reqNone - do nothing (action will be kept in queue) *
  • reqInvokeWorking - invoke Callback::working *
  • reqInvokeDone - invoke Callback::done and destroy callback *
  • reqDestroy - destroy callback (callback should has been called already by function) *
* @htmlonly
@endhtmlonly */ virtual baci::ActionRequest closeAction (baci::BACIComponent *component_p, const int &callbackID, const CBDescIn &descIn, baci::BACIValue *value_p, Completion &completion, CBDescOut &descOut); /* --------------------- [ CORBA interface ] ----------------------*/ /** * Opens the door * Implementation of IDL open() interface. * This method just registers the request in the asyncronous queue together with the associated callback * and returns control immediatly. * The actual action will be invoked asyncronously by the asynchonous call manager by calling Door::openAction * The given callback is used to inform the caller when the action is performed. * @param cb callback when action has finished * @param desc callback used for holding information on timeout periods * @return void * @htmlonly
@endhtmlonly */ virtual void open (ACS::CBvoid_ptr cb, const ACS::CBDescIn &desc); /** * Closes the door * Implementation of IDL close() interface. * This method just registers the request in the asyncronous queue, together with the associated callback * and returns control immediatly. * The actual action will be invoked asyncronously by the asynchonous call manager by calling Door::closeAction * The given callback is used to inform the caller when the action is performed. * @param cb callback when action has finished * @param desc callback used for holding information on timeout periods * @return void * @htmlonly
@endhtmlonly */ virtual void close (ACS::CBvoid_ptr cb, const ACS::CBDescIn &desc); /** * Moves the door to the given position * Implementation of the IDL move(...) interface. * This method, while synchronous, only changes the reference position (i.e., m_ref_position_p) * while DoorThread actually handles the change in the door position via an ACS thread. * @param pos requested position - must be between 0 and a 100. * @return void * @htmlonly
@endhtmlonly */ virtual void move (CORBA::Double pos); /** * Property for readback m_position_p * Implementation of IDL interface for the property. * @return Read-only double pointer to the door's current position * @htmlonly
@endhtmlonly */ virtual ACS::ROdouble_ptr position (); /** * Property for reference position * Implementation of IDL interface for the property. * @return Read/write double pointer to where the door should be physically located * @htmlonly
@endhtmlonly */ virtual ACS::RWdouble_ptr ref_position (); /** * Property for substate * Implementation of IDL interface for the property. * @return Read-only long integer pointer to the door's present state * @htmlonly
@endhtmlonly */ virtual ACS::ROlong_ptr substate (); /** * Property for version * Implementation of IDL interface for the property. * @return Read-only string pointer to the door implementation's version * @htmlonly
@endhtmlonly */ virtual ACS::ROstring_ptr version (); /*Override component lifecycle methods*/ /** * Called after {@link #initialize} to tell the * component that it has to be ready to accept * incoming functional calls any time. * Must be implemented as a synchronous (blocking) call * (can spawn threads though). * * @throw ACSErr::ACSbaseExImpl * @return void * @htmlonly
@endhtmlonly */ virtual void execute(); private: /** * Checks substate * Checks for the device's substate. If the device is busy it returns * an error. The purpose of this function is to show how to handle * local error information. * @param error completion return variable * @return void * @htmlonly
@endhtmlonly */ virtual void checkSubstate(CompletionImpl *&error_p); /** * m_ref_position_sp is the position the Door should be in */ baci::SmartPropertyPointer m_ref_position_sp; /** * m_position_sp is the Door's actual position */ baci::SmartPropertyPointer m_position_sp; /** * m_substate_sp is the state the door is currently in * @see acsexmplDoorImpl.cpp */ baci::SmartPropertyPointer m_substate_sp; /** * m_version_sp is the Door's current version */ baci::SmartPropertyPointer m_version_sp; /* * m_door_thread_p is the pointer to the DoorThread */ DoorThread * m_doorThread_p; /** * ALMA C++ coding standards state copy operators should be disabled. */ void operator=(const Door&); }; /*\@}*/ /*\@}*/ #endif /* acsexmplDoorImpl_h */