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// NOLINTBEGIN(*)
#include "old_common.h"
class SlowCallBack : public Tango::CallBack
{
void push_event(Tango::EventData *);
public:
int cb_executed;
int cb_err;
int old_sec, old_usec;
short val;
AttrQuality qua;
};
class FastCallBack : public Tango::CallBack
{
void push_event(Tango::EventData *);
public:
int cb_executed;
int cb_err;
int old_sec, old_usec;
double val;
AttrQuality qua;
};
void SlowCallBack::push_event(Tango::EventData *event_data)
{
std::vector<short> value;
struct timeval now_timeval = Tango::make_timeval(std::chrono::system_clock::now());
TEST_LOG << "date : tv_sec = " << now_timeval.tv_sec;
TEST_LOG << ", tv_usec = " << now_timeval.tv_usec << std::endl;
auto delta_msec = ((now_timeval.tv_sec - old_sec) * 1000) + ((now_timeval.tv_usec - old_usec) / 1000);
old_sec = now_timeval.tv_sec;
old_usec = now_timeval.tv_usec;
TEST_LOG << "delta_msec = " << delta_msec << std::endl;
cb_executed++;
try
{
TEST_LOG << "SlowCallBack::push_event(): called attribute " << event_data->attr_name << " event "
<< event_data->event << "\n";
qua = event_data->attr_value->get_quality();
if((!event_data->err) && (qua != ATTR_INVALID))
{
*(event_data->attr_value) >> value;
val = value[0];
TEST_LOG << "Callback value " << val << std::endl;
}
else
{
TEST_LOG << "Error send to callback" << std::endl;
// Tango::Except::print_error_stack(event_data->errors);
}
}
catch(...)
{
TEST_LOG << "SlowCallBack::push_event(): could not extract data !\n";
}
}
void FastCallBack::push_event(Tango::EventData *event_data)
{
std::vector<double> value;
struct timeval now_timeval = Tango::make_timeval(std::chrono::system_clock::now());
TEST_LOG << "date : tv_sec = " << now_timeval.tv_sec;
TEST_LOG << ", tv_usec = " << now_timeval.tv_usec << std::endl;
auto delta_msec = ((now_timeval.tv_sec - old_sec) * 1000) + ((now_timeval.tv_usec - old_usec) / 1000);
old_sec = now_timeval.tv_sec;
old_usec = now_timeval.tv_usec;
TEST_LOG << "delta_msec = " << delta_msec << std::endl;
cb_executed++;
try
{
TEST_LOG << "FastCallBack::push_event(): called attribute " << event_data->attr_name << " event "
<< event_data->event << "\n";
qua = event_data->attr_value->get_quality();
if((!event_data->err) && (qua != ATTR_INVALID))
{
*(event_data->attr_value) >> value;
val = value[0];
TEST_LOG << "Callback value " << val << std::endl;
}
else
{
TEST_LOG << "Error send to callback" << std::endl;
// Tango::Except::print_error_stack(event_data->errors);
}
}
catch(...)
{
TEST_LOG << "FastCallBack::push_event(): could not extract data !\n";
}
}
int main(int argc, char **argv)
{
DeviceProxy *device;
if(argc == 1)
{
TEST_LOG << "usage: %s device" << std::endl;
exit(-1);
}
std::string device_name = argv[1];
try
{
device = new DeviceProxy(device_name);
}
catch(CORBA::Exception &e)
{
Except::print_exception(e);
exit(1);
}
TEST_LOG << std::endl << "new DeviceProxy(" << device->name() << ") returned" << std::endl << std::endl;
try
{
std::string att_name("slow_actuator");
//
// Test set up (stop polling and clear abs_change and rel_change attribute
// properties but restart device to take this into account)
// Set the abs_change to 1
//
if(device->is_attribute_polled(att_name))
{
device->stop_poll_attribute(att_name);
}
{
DbAttribute dba(att_name, device_name);
DbData dbd;
DbDatum a(att_name);
a << (short) 2;
dbd.push_back(a);
dbd.push_back(DbDatum("abs_change"));
dbd.push_back(DbDatum("rel_change"));
dba.delete_property(dbd);
dbd.clear();
a << (short) 1;
dbd.push_back(a);
DbDatum ch("abs_change");
ch << (short) 1;
dbd.push_back(ch);
dba.put_property(dbd);
DeviceProxy adm_dev(device->adm_name().c_str());
DeviceData di;
di << device_name;
adm_dev.command_inout("DevRestart", di);
}
delete device;
device = new DeviceProxy(device_name);
std::this_thread::sleep_for(std::chrono::seconds(1));
//
// switch on the polling first!
//
device->poll_attribute(att_name, 250);
//
// Check that the attribute is now polled at 1000 mS
//
bool po = device->is_attribute_polled(att_name);
TEST_LOG << "attribute polled : " << po << std::endl;
assert(po == true);
int poll_period = device->get_attribute_poll_period(att_name);
TEST_LOG << "att polling period : " << poll_period << std::endl;
assert(poll_period == 250);
//
// subscribe to a change event and filter only on a quality change
//
int eve_id;
SlowCallBack cb;
cb.cb_executed = 0;
cb.cb_err = 0;
cb.old_sec = cb.old_usec = 0;
std::vector<std::string> filters;
filters.push_back("$quality == 1");
eve_id = device->subscribe_event(att_name, Tango::CHANGE_EVENT, &cb, filters);
std::this_thread::sleep_for(std::chrono::milliseconds(250));
//
// Check that first point has been received
//
assert(cb.cb_executed == 1);
assert(cb.qua == ATTR_VALID);
TEST_LOG << " (Slow actuator) first point received --> OK" << std::endl;
//
// Write a value into the actuator
//
short new_val = 10;
DeviceAttribute da(att_name, new_val);
device->write_attribute(da);
std::this_thread::sleep_for(std::chrono::seconds(1));
//
// Check that the event has been received
//
assert(cb.cb_executed == 2);
assert(cb.qua == ATTR_CHANGING);
TEST_LOG << " (Slow actuator) Event quality from VALID->CHANGING --> OK" << std::endl;
//
// Read value from device which should have quality factor still set to
// CHANGING
//
DeviceAttribute da_r;
device->set_source(DEV);
da_r = device->read_attribute(att_name);
device->set_source(CACHE_DEV);
assert(da_r.get_quality() == ATTR_CHANGING);
TEST_LOG << " (Slow actuator) Attribute quality still CHANGING after read --> OK" << std::endl;
//
// Wait for end of movement
//
std::this_thread::sleep_for(std::chrono::seconds(3));
//
// Check that the event has been received
//
assert(cb.cb_executed == 3);
assert(cb.qua == ATTR_VALID);
TEST_LOG << " (Slow actuator) event quality from CHANGING->VALID --> OK" << std::endl;
//
// unsubscribe to the event
//
device->unsubscribe_event(eve_id);
TEST_LOG << " (Slow actuator) unsubscribe_event --> OK" << std::endl;
//---------------------------------------------------------------------------------
//
// Now, check a fast actuator scan
//
//---------------------------------------------------------------------------------
att_name = "fast_actuator";
//
// Test set up (stop polling and clear abs_change and rel_change attribute
// properties but restart device to take this into account)
// Set the abs_change to 1
//
if(device->is_attribute_polled(att_name))
{
device->stop_poll_attribute(att_name);
}
{
DbAttribute dba(att_name, device_name);
DbData dbd;
DbDatum a(att_name);
a << (short) 2;
dbd.push_back(a);
dbd.push_back(DbDatum("abs_change"));
dbd.push_back(DbDatum("rel_change"));
dba.delete_property(dbd);
dbd.clear();
a << (short) 1;
dbd.push_back(a);
DbDatum ch("abs_change");
ch << (short) 1;
dbd.push_back(ch);
dba.put_property(dbd);
DeviceProxy adm_dev(device->adm_name().c_str());
DeviceData di;
di << device_name;
adm_dev.command_inout("DevRestart", di);
}
delete device;
device = new DeviceProxy(device_name);
std::this_thread::sleep_for(std::chrono::seconds(1));
//
// switch on the polling first!
//
device->poll_attribute(att_name, 250);
//
// Check that the attribute is now polled at 100 mS
//
po = device->is_attribute_polled(att_name);
TEST_LOG << "attribute polled : " << po << std::endl;
assert(po == true);
poll_period = device->get_attribute_poll_period(att_name);
TEST_LOG << "att polling period : " << poll_period << std::endl;
assert(poll_period == 250);
//
// subscribe to a change event and filter only on a quality change
//
FastCallBack fcb;
fcb.cb_executed = 0;
fcb.cb_err = 0;
fcb.old_sec = cb.old_usec = 0;
std::vector<std::string> ffilters;
ffilters.push_back("$quality == 1");
eve_id = device->subscribe_event(att_name, Tango::CHANGE_EVENT, &fcb, ffilters);
TEST_LOG << " (Fast actuator) subscribe_event --> OK" << std::endl;
std::this_thread::sleep_for(std::chrono::milliseconds(250));
//
// Check that first point has been received
//
assert(fcb.cb_executed == 1);
assert(fcb.qua == ATTR_VALID);
TEST_LOG << " (Fast actuator) first point received --> OK" << std::endl;
//
// Write a value into the actuator
//
double val = 100.333;
DeviceAttribute fda(att_name, val);
device->write_attribute(fda);
// Only sleep a 100ms. The events should be fired immediately
std::this_thread::sleep_for(std::chrono::milliseconds(250));
//
// Check that the events has been received
//
assert(fcb.cb_executed == 3);
assert(fcb.qua == ATTR_VALID);
TEST_LOG << " (Fast actuator) Two quality events received --> OK" << std::endl;
//
// unsubscribe to the event
//
device->unsubscribe_event(eve_id);
TEST_LOG << " (Fast actuator) Unsubscribe_event --> OK" << std::endl;
device->stop_poll_attribute(att_name);
device->stop_poll_attribute("slow_actuator");
}
catch(Tango::DevFailed &e)
{
Except::print_exception(e);
exit(-1);
}
catch(CORBA::Exception &ex)
{
Except::print_exception(ex);
exit(-1);
}
delete device;
return 0;
}
// NOLINTEND(*)
|
