// ============================================================================
// Process the message queue of the Task
// ============================================================================
void AcquisitionTask::process_message(yat::Message& msg) throw (Tango::DevFailed)
{
try
{
switch ( msg.type() )
{
//-----------------------------------------------------------------------------------------------
case yat::TASK_INIT:
{
INFO_STREAM << "-> yat::TASK_INIT" << endl;
try
{
m_acq_conf = msg.get_data<AcqConfig>();
set_state(Tango::STANDBY);
set_status(string("Waiting for request ..."));
}
catch( Tango::DevFailed& df )
{
ERROR_STREAM << df <<endl;
set_state(Tango::FAULT);
set_status(string(df.errors[0].desc));
throw;
}
}
break;
//-----------------------------------------------------------------------------------------------
case yat::TASK_EXIT:
{
INFO_STREAM << "-> yat::TASK_EXIT" << endl;
try
{
set_state(Tango::INIT);
set_status(string("Acquisition is Stopped."));
}
catch( Tango::DevFailed& df )
{
ERROR_STREAM << df <<endl;
set_state(Tango::FAULT);
set_status(string(df.errors[0].desc));
}
}
break;
//-----------------------------------------------------------------------------------------------
case DEVICE_SNAP_MSG:
{
INFO_STREAM << "-> yat::DEVICE_SNAP_MSG" << endl;
try
{
set_state(Tango::RUNNING);
set_status(string("Acquisition is Running in snap mode..."));
m_acq_conf.ct->prepareAcq();
m_acq_conf.ct->startAcq();
}
catch(Tango::DevFailed &df)
{
ERROR_STREAM << df << endl;
on_abort(df);
}
catch(Exception& e)
{
ERROR_STREAM << e.getErrMsg() << endl;
on_abort(e.getErrMsg());
}
}
break;
//-----------------------------------------------------------------------------------------------
case DEVICE_START_MSG:
{
INFO_STREAM << "-> yat::DEVICE_START_MSG" << endl;
try
{
set_state(Tango::RUNNING);
set_status(string("Acquisition is Running in video mode ..."));
m_acq_conf.ct->video()->startLive();
}
catch(Tango::DevFailed &df)
{
ERROR_STREAM << df << endl;
on_abort(df);
}
catch(Exception& e)
{
ERROR_STREAM << e.getErrMsg() << endl;
on_abort(e.getErrMsg());
}
}
break;
//-----------------------------------------------------------------------------------------------
case DEVICE_STOP_MSG:
{
INFO_STREAM << "-> yat::DEVICE_STOP_MSG" << endl;
try
{
m_acq_conf.ct->stopAcq();
m_acq_conf.ct->resetStatus(false);
set_state(Tango::STANDBY);
set_status(string("Waiting for request ..."));
INFO_STREAM << "Acquisition is Stopped." << endl;
}
catch(Tango::DevFailed &df)
{
ERROR_STREAM << df << endl;
on_abort(df);
}
catch(Exception& e)
{
ERROR_STREAM << e.getErrMsg() << endl;
on_abort(e.getErrMsg());
}
}
break;
//-----------------------------------------------------------------------------------------------
case DEVICE_ABORT_MSG:
{
INFO_STREAM << "-> yat::DEVICE_ABORT_MSG" << endl;
//display here the final status, otherwise is overwrited.
set_state(Tango::FAULT);
set_status(m_acq_conf.abort_status_message);
INFO_STREAM << "Acquisition is Aborted." << endl;
}
break;
//-----------------------------------------------------------------------------------------------
}
}
catch( yat::Exception& ex )
{
//- TODO Error Handling
INFO_STREAM<<ex.errors[0].desc<<endl;
throw;
}
}
// ============================================================================
// UnsolicitedMsgReader::handle_message
// ============================================================================
void UnsolicitedMsgReader::handle_message (yat::Message& _msg)
throw (yat::Exception)
{
YAT_TRACE("galil::UnsolicitedMsgReader::handle_message");
//- The Task's lock_ is locked
//-------------------------------------------------------------------
//- YAT_LOG("UnsolicitedMsgReader::handle_message::receiving msg " << _msg.to_string());
//- handle msg
switch (_msg.type())
{
//- THREAD_INIT ----------------------
case yat::TASK_INIT:
{
//- "initialization" code goes here
YAT_LOG("UnsolicitedMsgReader::handle_message::THREAD_INIT::thread is starting up");
}
break;
//- THREAD_EXIT ----------------------
case yat::TASK_EXIT:
{
//- "release" code goes here
YAT_LOG("UnsolicitedMsgReader::handle_message::THREAD_EXIT::thread is quitting");
}
break;
//- THREAD_PERIODIC ------------------
case yat::TASK_PERIODIC:
{
//- enter critical section
yat::AutoMutex<yat::Mutex> guard(this->Task::m_lock);
//- get unsolicited msg
try
{
//- code relative to the task's periodic job goes here
//- YAT_LOG("UnsolicitedMsgReader::handle_message::handling THREAD_PERIODIC msg");
std::string unsolicited_msg;
this->hw_io()->out(unsolicited_msg);
if (unsolicited_msg.size())
{
YAT_LOG("***************************************************************************");
YAT_LOG("* UnsolicitedMsgReader::got the following unsolicited msg from controller *");
YAT_LOG("***************************************************************************");
YAT_LOG("unsolicited msg length..." << unsolicited_msg.size());
YAT_LOG("unsolicited msg.........." << unsolicited_msg);
YAT_LOG("***************************************************************************");
}
}
catch (Tango::DevFailed& te)
{
YAT_LOG("UnsolicitedMsgReader::handle_message::TANGO exception caught");
_TANGO_TO_YAT_EXCEPTION(te, ye);
throw ye;
}
catch (...)
{
YAT_LOG("UnsolicitedMsgReader::handle_message::UNKNOWN exception caught");
throw;
}
}
break;
default:
//- YAT_LOG("UnsolicitedMsgReader::handle_message::unhandled msg type received");
break;
}
//- YAT_LOG("UnsolicitedMsgReader::handle_message::message_handler:msg " << _msg.to_string() << " successfully handled");
}
void Camera::handle_message(yat::Message& msg) throw ( yat::Exception)
{
DEB_MEMBER_FUNCT();
try
{
switch (msg.type())
{
//-----------------------------------------------------
case yat::TASK_INIT:
{
DEB_TRACE() << "Camera::->TASK_INIT";
//NOP
}
break;
//-----------------------------------------------------
case yat::TASK_EXIT:
{
DEB_TRACE() << "Camera::->TASK_EXIT";
try
{
//- abort acquisition
DEB_TRACE() << "Send command abort";
_sendCmdAndReceiveAnswer("abort");
//- Delete device allocated objects
DEB_TRACE() << "Disconnect from MARCCD socket server";
m_sock.disconnect();
//- yat internal cooking
DEB_TRACE() << "Terminate yat::socket";
yat::Socket::terminate();
}
catch (yat::SocketException & ySe)
{
std::stringstream ssError;
for (unsigned i = 0; i < ySe.errors.size(); i++)
{
ssError << ySe.errors[i].desc << std::endl;
}
THROW_HW_ERROR(Error) << ssError.str();
}
catch (...)
{
THROW_HW_ERROR(Error) << "Camera::TASK_EXIT : Unknown Exception";
}
}
break;
//-----------------------------------------------------
case yat::TASK_TIMEOUT:
{
DEB_TRACE() << "Camera::->TASK_TIMEOUT";
//NOP
}
break;
//------------------------------------------------------
case yat::TASK_PERIODIC:
{
DEB_TRACE() << "Camera::->TASK_PERIODIC";
//NOP
}
break;
//------------------------------------------------------
case START_MSG:
{
DEB_TRACE() << "Camera::->START_MSG";
try
{
DEB_TRACE() << "Perform acquisition sequence ...";
_performAcquisitionSequence();
}
catch (yat::SocketException & ySe)
{
m_nb_frames = 0; // This will stop the reader
std::stringstream ssError;
for (unsigned i = 0; i < ySe.errors.size(); i++)
{
ssError << ySe.errors[i].desc << std::endl;
}
THROW_HW_ERROR(Error) << ssError.str();
}
catch (...)
{
THROW_HW_ERROR(Error) << "Camera::START_MSG : Unknown Exception";
}
}
break;
//-----------------------------------------------------
case STOP_MSG:
{
DEB_TRACE() << "Camera::->STOP_MSG";
try
{
DEB_TRACE() << "Perform stop sequence ...";
_performStopSequence();
}
catch (yat::SocketException & ySe)
{
m_nb_frames = 0; // This will stop the reader
std::stringstream ssError;
for (unsigned i = 0; i < ySe.errors.size(); i++)
{
ssError << ySe.errors[i].desc << std::endl;
}
THROW_HW_ERROR(Error) << ssError.str();
}
catch (...)
{
THROW_HW_ERROR(Error) << "Camera::STOP_MSG : Unknown Exception";
}
}
break;
//-----------------------------------------------------
case BACKGROUND_FRAME_MSG:
{
DEB_TRACE() << "Camera::->BACKGROUND_FRAME_MSG";
try
{
DEB_TRACE() << "Perform background frame ...";
_performBackgroundFrame();
}
catch (yat::SocketException & ySe)
{
m_nb_frames = 0; // This will stop the reader
std::stringstream ssError;
for (unsigned i = 0; i < ySe.errors.size(); i++)
{
ssError << ySe.errors[i].desc << std::endl;
}
THROW_HW_ERROR(Error) << ssError.str();
}
catch (...)
{
THROW_HW_ERROR(Error) << "Camera::BACKGROUND_FRAME_MSG : Unknown Exception";
}
}
break;
}
}
catch (yat::Exception& ex)
{
DEB_ERROR() << "Camera::handle_message : " << ex.errors[0].desc;
THROW_HW_ERROR(Error) << "Camera::handle_message : " << ex.errors[0].desc;
}
catch (...)
{
DEB_ERROR() << "Camera::handle_message : " << "YAT Task Unknown error ! ";
THROW_HW_ERROR(Error) << "Camera::handle_message : " << "YAT Task Unknown error ! ";
}
}
// ============================================================================
// Consumer::handle_message
// ============================================================================
void Consumer::handle_message (yat::Message& _msg)
{
//- YAT_TRACE("Consumer::handle_message");
//- handle msg
switch (_msg.type())
{
//- TASK_INIT ----------------------
case yat::TASK_INIT:
{
//- "initialization" code goes here
YAT_LOG("Consumer::handle_message::TASK_INIT::task is starting up");
this->ctrl_msg_counter++;
}
break;
//- TASK_EXIT ----------------------
case yat::TASK_EXIT:
{
//- "release" code goes here
YAT_LOG("Consumer::handle_message::TASK_EXIT::task is quitting");
this->ctrl_msg_counter++;
}
break;
//- TASK_PERIODIC ------------------
case yat::TASK_PERIODIC:
{
//- code relative to the task's periodic job goes here
YAT_LOG("Consumer::handle_message::handling TASK_PERIODIC msg");
}
break;
//- TASK_TIMEOUT -------------------
case yat::TASK_TIMEOUT:
{
//- code relative to the task's tmo handling goes here
YAT_LOG("Consumer::handle_message::handling TASK_TIMEOUT msg");
}
break;
//- USER_DEFINED_MSG -----------------
case kDUMMY_MSG:
{
//- YAT_LOG("Consumer::handle_message::handling kDUMMY_MSG user msg");
this->user_msg_counter++;
#if defined (YAT_DEBUG)
if (_msg.id() < last_msg_id)
this->wrong_order_msg_counter++;
else
this->lost_msg_counter += _msg.id() - (this->last_msg_id + 1);
#endif
//- simulate some time consuming activity
yat::ThreadingUtilities::sleep(0, 10000);
}
break;
//- kDATA_MSG -------------------
case kDATA_MSG:
{
//- code relative to the task's tmo handling goes here
SharedBuffer* sb = _msg.detach_data<SharedBuffer>();
YAT_LOG("got a SharedBuffer containing " << sb->length() << " elements");
sb->release();
}
break;
default:
YAT_LOG("Consumer::handle_message::unhandled msg type received");
break;
}
#if defined (YAT_DEBUG)
this->last_msg_id = _msg.id();
#endif
}