BACI Properties Mount2 example Bogdan Jeram (bjeram@eso.org) European Southern Observatory July 2005 ESO

Properties in IDL properties are defined in baci.idl (we have to include it!) introduced in component interface as IDL readonly attributes component interface has to derive from: ACS::CharacteristicComponent ACS Course Tokyo, July 2005 Running ACS

Mount2 IDL http://websqa.hq.eso.org/bin/viewcvs.cgi/ACS/LGPL/CommonSoftware/acscourse/ws/idl/acscourseMount.idl?rev=HEAD&content-type=text/vnd.viewcvs-markup interface Mount2 : ACS::CharacteristicComponent { void objfix (in double az, in double elev); readonly attribute ACS::RWdouble cmdAz; readonly attribute ACS::RWdouble cmdEl; readonly attribute ACS::ROdouble actAz; readonly attribute ACS::ROdouble actEl; }; ACS Course Tokyo, July 2005 Running ACS

Properties in C++ Implemented in baci library header file per property type. Example: baciROdouble.h baciRWdouble.h baciROpattern.h ACS Course Tokyo, July 2005 Running ACS

Component header file http://websqa.hq.eso.org/bin/viewcvs.cgi/ACS/LGPL/CommonSoftware/acscourse/ws/include/acscourseMount2Impl.h?rev=HEAD&content-type=text/vnd.viewcvs-markup includes: #include <baciCharacteristicComponentImpl.h> header file for each property type Examples: #include <baciROdouble.h> #include <baciRWdouble.h> Namespace: baci (using namespace baci) ACS Course Tokyo, July 2005 Running ACS

Component header file Class implementation has to inherit: CharacteriticComponentImpl (common functionality) from idl generated skeleton: POA_ACSCOURSE_MOUNT::Mount1 constructor: with 2 parameters: Mount2Impl( const ACE_CString &name, maci::ContainerServices *containerServices); Member for each property. Examples: SmartPropertyPointer<RWdouble> m_cmdAz_sp; SmartPropertyPointer<ROdouble> m_actAz_sp; Accessor methods. Examples: ACS::RWdouble_ptr cmdEl () throw (CORBA::SystemException); ACS::ROdouble_ptr actAz () throw (CORBA::SystemException); ACS Course Tokyo, July 2005 Running ACS

Component Implementation http://websqa.hq.eso.org/bin/viewcvs.cgi/ACS/LGPL/CommonSoftware/acscourse/ws/src/acscourseMount2Impl.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup #include <acscourseMount2Impl.h> #include <iostream> using namespace std; Mount2Impl::Mount2Impl( const ACE_CString &_name, maci::ContainerServices *containerServices) : CharacteristicComponentImpl(_name, containerServices), m_cmdAz_sp(new RWdouble(_name+":cmdAz", getComponent()),this), m_cmdEl_sp(new RWdouble(_name+":cmdEl", getComponent()),this), m_actAz_sp(new ROdouble(_name+":actAz", getComponent()),this), m_actEl_sp(new ROdouble(_name+":actEl", getComponent()),this) { ACS_TRACE("::Mount2Impl::Mount2Impl"); } Mount2Impl::~Mount2Impl() { purposes ACS_TRACE("::Mount2Impl::~Mount2Impl"); ACS Course Tokyo, July 2005 Running ACS

Accessor methods implementation returns “property” ACS::RWdouble_ptr Mount2Impl::cmdAz () throw (CORBA::SystemException) { if (m_cmdAz_sp == 0) return ACS::RWdouble::_nil(); } ACS::RWdouble_var prop = ACS::RWdouble::_narrow(m_cmdAz_sp->getCORBAReference()); return prop._retn(); ACS Course Tokyo, July 2005 Running ACS

Functional methods implementation void Mount2Impl::objfix (CORBA::Double az, CORBA::Double elev) throw (CORBA::SystemException) { ACS_TRACE("::Mount2Impl::objfix"); unsigned long long timestamp; m_cmdAz_sp->getDevIO()->write(az, timestamp); m_cmdEl_sp->getDevIO()->write(elev, timestamp); ACS_SHORT_LOG((LM_INFO,"Received objfix command. Az: %f El: %f", az, elev)); } ACS Course Tokyo, July 2005 Running ACS