#ifndef acsexmplMountImpl_h #define acsexmplMountImpl_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: acsexmplMountImpl.h,v 1.100 2008/10/01 04:30:47 cparedes Exp $" * * who when what * -------- -------- ---------------------------------------------- * acaproni 2004-04-06 Use of smart pointer for properties * david 2002-07-02 added GNU license info * bjeram 2002-06-25 added const ACS::CBDescIn & desc, * david 2002-06-10 Added doxygen specific comments * blopez 2002-04-05 Modified for ACSDO usage * gchiozzi 2002-01-28 cleaned up remaining "mount" strings and replaced with "acsexmpl" * almamgr 2002-01-22 Replaced old include files with new axsexmpl... files * msekoran 2001-06-23 minor changes to work with acsutil module * msekoran 2001-04-03 new baci * gchiozzi 2001-02-15 Added declaration of get_interface() method for Object Explorer * gchiozzi 2001-02-15 created standard header */ #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 #include ///CORBA generated servant stub #include ///Includes for each BACI property used in this example #include ///Include the smart pointer for properties #include /** @file acsexmplMountImpl.h */ /** @addtogroup ACSEXMPLTOC */ /*@{ */ /** @addtogroup ACSEXMPLTOCCOMPONENTS */ /*@{ */ /** @defgroup ACSEXMPLMOUNTDOC Mount * @{ * @htmlonly

Description

The class Mount simulates the behaviour of an antenna interface.  It provides only two asynchronous methods: objstar(...) and objfix(...).  Both of these methods only write data into virtual read-only double properties: actAz, actEl, cmdAz, and cmdEl.

What can I gain from this example?

  • an example derived from the ACS::CharacteristicComponent IDL interface.
  • understanding of asynchronous method implementation accomplished by inheriting methods from the baci::ActionImplementator class.
  • asynchronous methods which take in (multiple) parameters.
  • clean implementation of the invokeAction method using an array of function pointers.
  • a "real-world" example dealing with radio astronomy.
  • writing values to read-only BACI properties by using the property's underlying DevIO instance.
  • standard ACS logging macros.
  • ACS asynchronous error handling.


Links

@endhtmlonly * @} */ /** * Simulates the behavior of an antenna interface. * The class Mount is a good example of a component and simulates the behaviour of an antenna interface. * It provides two asynchronous methods: objstar and objfix. The methods only write the data into * virtual properties instead of hardware. * Asynchronous calls are implemented using the ...... pattern and the ..... support classes. * 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 Mount::invokeAction method is called by the asynchronous dispatcher whenever there is an * xxx pending action and it calls the xxxAction corresponding method. Also, invokeAction calls * these methods by simply using a function pointer (ActionFunction) instead of specifying each method. * @version "@(#) $Id: acsexmplMountImpl.h,v 1.100 2008/10/01 04:30:47 cparedes Exp $" */ class acsexmpl_EXPORT Mount: public baci::CharacteristicComponentImpl, //Standard component superclass public virtual POA_MOUNT_ACS::Mount, //CORBA servant stub public baci::ActionImplementator //Asynchronous method helper class { public: /** * Constructor * * @param name component's name. This is also the name that will be used to find the * configuration data for the component in the Configuration Database. * @param containerService The pointer to the container services */ Mount( ACE_CString name, maci::ContainerServices * containerServices); /** * Destructor */ virtual ~Mount(); /* --------------- [ 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. value to be set). * @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 have 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 asynchronous MOUNT_ACS::Mount::obstar() method * This is the function that actually runs obstar(...) * 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. value to be set). * @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 obstarAction (baci::BACIComponent *component_p, const int &callbackID, const CBDescIn &descIn, baci::BACIValue *value_p, Completion &completion, CBDescOut &descOut); /** * Implementation of asynchronous MOUNT_ACS::Mount::objfix() method * This is the function that actually runs objfix(...) * 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. value to be set). * @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 objfixAction (baci::BACIComponent *component_p, const int &callbackID, const CBDescIn &descIn, baci::BACIValue *value_p, Completion &completion, CBDescOut &descOut); /* --------------------- [ CORBA interface ] ----------------------*/ /** * (Pre)sets a new equatorial source for the antenna to track. * The source position is given in geocentric equatorial J2000 * coordinates. The actual ra and dec coordinates are written * to the properties cmdAz, cmdEl, actAz and actEl. * * 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 Mount::obstarAction(...). The given callback is used to inform the caller * when the action is performed. * @param ra source right ascension (hour) * @param dec source declination (hour) * @param pmRa source sky proper motion in right ascension (arc-sec/year) * @param pmDec source sky proper motion in declination (arc-sec/year) * @param radVel source radial velocity (kilometer/sec) * @param par source parallax correction (arc-sec) * @param type Apparent or Mean * @param callBack Callback when action has finished. * @param desc Callback used for holding information on timeout periods * @return void * @htmlonly
@endhtmlonly */ virtual void obstar (CORBA::Double ra, CORBA::Double dec, CORBA::Double pmRa, CORBA::Double pmDec, CORBA::Double radVel, CORBA::Double par, MOUNT_ACS::Mount::coordType type, ACS::CBvoid_ptr callBack, const ACS::CBDescIn &desc); /** * (Pre)sets a new non-moving position for the antenna. * The position coordinates are given in azimuth and elevation. * The actual az and elev values are written to the properties * cmdAz, cmdEl, actAz and actEl. * * 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 Mount::objfixAction(...). The given callback is used to inform the caller * when the action is performed. * @param az position azimuth (degree) * @param elev position elevation (degree) * @param callBack Callback when action has finished. * @param desc Callback used for holding information on timeout periods * @return void * @htmlonly
@endhtmlonly */ virtual void objfix (CORBA::Double az, CORBA::Double elev, ACS::CBvoid_ptr callBack, const ACS::CBDescIn &desc); /** * Returns a reference to the cmdAz property * Implementation of IDL interface for the property. * @return pointer to read-only double property cmdAz * @htmlonly
@endhtmlonly */ virtual ACS::ROdouble_ptr cmdAz (); /** * Returns a reference to the cmdEl property * Implementation of IDL interface for the property. * @return pointer to read-only double property cmdEl * @htmlonly
@endhtmlonly */ virtual ACS::ROdouble_ptr cmdEl (); /** * Returns a reference to the actAz property * Implementation of IDL interface for the property. * @return pointer to read-only double property actAz * @htmlonly
@endhtmlonly */ virtual ACS::ROdouble_ptr actAz (); /** * Returns a reference to the actEl property * Implementation of IDL interface for the property. * @return pointer to read-only double property actEl * @htmlonly
@endhtmlonly */ virtual ACS::ROdouble_ptr actEl (); private: /** * Definition of ActionFunction (member function of Mount class) * ActionFunction is used to run the asynchronous methods from within * invokeAction(...) without actually having to specify * calls to each ...Action(...) method. This is easily accomplished since * all ...Action(...) methods return an baci::ActionRequest. * @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. value to be set). * @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 */ typedef baci::ActionRequest (Mount::*ActionFunction)(baci::BACIComponent *component_p, const int &callbackID, const CBDescIn &descIn, baci::BACIValue *value_p, Completion &completion, CBDescOut &descOut); /** * Please see ActionFunction. * m_actions[0] = obstarAction(...) * m_actions[1] = objfixAction(...) */ ActionFunction m_actions[2]; /** * m_cmdAz_sp is the antenna's commanded azimuth */ baci::SmartPropertyPointer m_cmdAz_sp; /** * m_cmdEl_sp is the antenna's commanded elevation */ baci::SmartPropertyPointer m_cmdEl_sp; /** * m_actAz_sp is the antenna's actual azimuth */ baci::SmartPropertyPointer m_actAz_sp; /** * m_actEl_sp is the antenna's actual elevation */ baci::SmartPropertyPointer m_actEl_sp; /** * ALMA C++ coding standards state copy operators should be disabled. */ void operator=(const Mount&); }; /*\@}*/ /*\@}*/ #endif /*!acsexmplMountImpl_H*/