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import PyTango
import sys
import math
class TaurusTest(PyTango.Device_4Impl):
def __init__(self,cl, name):
PyTango.Device_4Impl.__init__(self,cl,name)
TaurusTest.init_device(self)
def delete_device(self):
print "[Device delete_device method] for device",self.get_name()
def init_device(self):
print "In ", self.get_name(), "::init_device()"
self.set_state(PyTango.DevState.ON)
self.get_device_properties(self.get_device_class())
self._position = 50.0
self._velocity = 20.0
self._acceleration = 4.0
self._simulation_mode = False
self._abscissas = [x/50.0 for x in xrange(1024)]
self._curve = [math.sin(x) for x in self._abscissas]
def always_executed_hook(self):
print "In ", self.get_name(), "::always_excuted_hook()"
def read_attr_hardware(self,data):
print "In ", self.get_name(), "::read_attr_hardware()"
def read_Position(self, attr):
attr.set_value(self._position)
def write_Position(self, attr):
self._position = attr.get_write_value()
def read_Velocity(self, attr):
attr.set_value(self._velocity)
def is_Velocity_allowed(self, req_type):
if req_type == PyTango.AttReqType.WRITE_REQ: return True
return self._velocity < 5
def write_Velocity(self, attr):
self._velocity = attr.get_write_value()
def read_Acceleration(self, attr):
attr.set_value(self._acceleration)
def write_Acceleration(self, attr):
self._acceleration = attr.get_write_value()
def read_SimulationMode(self, attr):
attr.set_value(self._simulation_mode)
def write_SimulationMode(self, attr):
self._simulation_mode = attr.get_write_value()
def read_Abscissas(self, attr):
attr.set_value(self._abscissas)
def read_Curve(self, attr):
attr.set_value(self._curve)
def write_Curve(self, attr):
self._curve = attr.get_write_value()
def create_device_cb(self, device_name):
print "About to create device",device_name
def CreateTaurusTestDevice(self, device_name):
klass = self.get_device_class()
klass.create_device(device_name, cb=self.create_device_cb)
def DeleteTaurusTestDevice(self, device_name):
klass = self.get_device_class()
klass.delete_device(device_name)
class TaurusTestClass(PyTango.DeviceClass):
# Class Properties
class_property_list = {
}
# Device Properties
device_property_list = {
}
# Command definitions
cmd_list = {
'CreateTaurusTestDevice':
[ [PyTango.DevString, 'device name'],
[PyTango.DevVoid, ""] ],
'DeleteTaurusTestDevice':
[ [PyTango.DevString, 'device name'],
[PyTango.DevVoid, ""] ],
}
# Attribute definitions
attr_list = {
'Position':
[[PyTango.DevDouble,
PyTango.SCALAR,
PyTango.READ_WRITE],
{
'label':"Gap",
'unit':"mm",
'format':"%8.3f",
'max value':1000,
'min value':-1000,
'max alarm':900,
'min alarm':-900,
'max warning':800,
'min warning':-800,
} ],
'Velocity':
[[PyTango.DevDouble,
PyTango.SCALAR,
PyTango.READ_WRITE],
{
'label':"Speed",
'unit':"nm/s",
'format':"%6.2f",
'max value':100,
'min value':0,
'max alarm':95,
'min alarm':5,
'max warning':90,
'min warning':10,
} ],
'Acceleration':
[[PyTango.DevDouble,
PyTango.SCALAR,
PyTango.READ_WRITE],
{
'label':"Acceleration",
'unit':"nm/s/s",
'format':"%6.2f",
'max value':100,
'min value':0,
'max alarm':95,
'min alarm':2,
'max warning':90,
'min warning':1,
} ],
'SimulationMode':
[[PyTango.DevBoolean,
PyTango.SCALAR,
PyTango.READ_WRITE],
{
'label':"Simulation mode",
} ],
'Abscissas':
[[PyTango.DevDouble,
PyTango.SPECTRUM,
PyTango.READ, 1024],
{
'label':"X values for Curve 1",
} ],
'Curve':
[[PyTango.DevDouble,
PyTango.SPECTRUM,
PyTango.READ_WRITE, 1024],
{
'label':"Curve 1",
} ],
}
def __init__(self, name):
PyTango.DeviceClass.__init__(self, name)
self.set_type(name);
print "In TaurusTestClass constructor"
if __name__ == '__main__':
try:
py = PyTango.Util(sys.argv)
py.add_TgClass(TaurusTestClass,TaurusTest,'TaurusTest')
U = PyTango.Util.instance()
U.server_init()
U.server_run()
except PyTango.DevFailed,e:
print '-------> Received a DevFailed exception:',e
except Exception,e:
print '-------> An unforeseen exception occured....',e
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