Merge pull request #441 from discos/fix-issue-440

<?xml version="1.0" encoding="ISO-8859-1"?>

<!-- Marco Buttu, marco.buttu@inaf.it -->

<xs:schema

    targetNamespace="urn:schemas-cosylab-com:Positioner:1.0"

    xmlns:xs="http://www.w3.org/2001/XMLSchema"

    xmlns="urn:schemas-cosylab-com:Positioner:1.0"

    xmlns:cdb="urn:schemas-cosylab-com:CDB:1.0"

    xmlns:baci="urn:schemas-cosylab-com:BACI:1.0"

    elementFormDefault="qualified"

    attributeFormDefault="unqualified">

    <xs:import namespace="urn:schemas-cosylab-com:CDB:1.0" schemaLocation="CDB.xsd" />

    <xs:import namespace="urn:schemas-cosylab-com:BACI:1.0" schemaLocation="BACI.xsd" />

    <xs:complexType name="PositionerType">

      <xs:complexContent>

        <xs:extension base="baci:CharacteristicComponent">

          <xs:sequence>

            <xs:element name="status" type="baci:ROpattern" />

            <xs:element name="position" type="baci:ROdouble" />

            <xs:element name="current" type="baci:ROdouble" />

            <xs:element name="seq" type="baci:ROdoubleSeq" />

          </xs:sequence>

        </xs:extension>

      </xs:complexContent>

    </xs:complexType>

    <xs:element name="Positioner" type="PositionerType"/>

</xs:schema>

<?xml version="1.0" encoding="ISO-8859-1"?>

<Type xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"

 xmlns="Alma/ACSError" xsi:schemaLocation="Alma/ACSError ACSError.xsd"

 name="ComponentErrors" type="2001" _prefix="alma">

 <Code 

     name="NoError" 

     shortDescription="No error" 

     description="No error condition found"/>

 <ErrorCode 

     name="NotAllowed" 

     shortDescription="Operation not allowed" 

     description="Operation not allowed in this configuration">

	<Member name="Reason" type="string" description="Reason" />

</ErrorCode>

</Type>

/*************************************************\

 *  Author: Marco Buttu <marco.buttu@inaf.it>

\*************************************************/

#ifndef __TESTNAMESPACE_INTERFACE__IDL__ 

#define __TESTNAMESPACE_INTERFACE__IDL__ 

#include <baci.idl>

#include <ComponentErrors.idl>

#pragma prefix "alma"

module TestNamespaceInterface {

    struct PositionerDataBlock {

        boolean ready;

    }; 

    const string POSITIONER_DATA_CHANNEL = "PositionerData";

    interface Positioner: ACS::CharacteristicComponent

    {

        /** Set the position */

        void setPosition(in double position) 

            raises (ComponentErrors::ComponentErrorsEx);

        /** Return the actual position */

        double getPosition();

        /** Set a dummy sequence */

        void setSequence(in ACS::doubleSeq seq);

        /** Return a dummy sequence */

        ACS::doubleSeq getSequence();

        /** This property reports the status (4 bits pattern) of the Positioner. */

        readonly attribute ACS::ROpattern status;

        /** This property reports the position of the Positioner. */

        readonly attribute ACS::ROdouble position;

        /** This property reports the current of the Positioner engine. */

        readonly attribute ACS::ROdouble current;

        /** A dummy sequence */

        readonly attribute ACS::ROdoubleSeq seq;

    };

};

#endif

#*****************************************************************

# Positioner Makefile

# ===================

# A Component to be used for testing purpose

# Marco Buttu <marco.buttu@inaf.it>

#*****************************************************************

ACSERRDEF= ComponentErrors

ERRXMLFILE= ../idl/ComponentErrors.xml

# Interface

# ----------------------------

CDB_SCHEMAS = Positioner

IDL_FILES = TestNamespaceInterface

TestNamespaceInterfaceStubs_LIBS = baciStubs acscomponentStubs ACSErrTypeCommon \

								 ComponentErrors

# Python directives

PY_PACKAGES = Positioner

# Documentation

MAKE_PDF = ON

# List of all possible C-sources (used to create automatic dependencies)

CSOURCENAMES = \

	$(foreach exe, $(EXECUTABLES) $(EXECUTABLES_L), $($(exe)_OBJECTS)) \

	$(foreach rtos, $(RTAI_MODULES) , $($(rtos)_OBJECTS)) \

	$(foreach lib, $(LIBRARIES) $(LIBRARIES_L), $($(lib)_OBJECTS))

TMP := $(shell searchFile /tmp/tmp.txt)

ifeq ($(TMP),\#error\#)

PERM:=$(shell stat --format=%a $(ERRXMLFILE))

else 

PERM=$(shell cat /tmp/tmp.txt) 

endif

# Include standards

MAKEDIRTMP := $(shell searchFile include/acsMakefile)

ifneq ($(MAKEDIRTMP),\#error\#)

   MAKEDIR := $(MAKEDIRTMP)/include

   include $(MAKEDIR)/acsMakefile

endif

# TARGETS

all:	do_all

	@echo " . . . 'all' done" 

clean : clean_all 

	# Clear INTROOT interface

	$(RM) $(INTROOT)/lib/python/site-packages/TestNamespace*

	# Clear INTROOT Impl

	$(RM) $(INTROOT)/lib/python/site-packages/Positioner*

	$(RM) $(INTROOT)/lib/python/site-packages/libPositionerStubs.*

	# Clear local lib

	$(RM) *~ *Impl/*~ Positioner/*.pyc

	$(RM) ../bin/

	$(RM) ../include/

	$(RM) ../lib/

	$(RM) ../object/

	$(RM) ../rtai/

	@echo " . . . clean done"

clean_dist : clean_all clean_dist_all 

	@echo " . . . clean_dist done"

man   : do_man 

	@echo " . . . man page(s) done"

install : xmlpatch_pre install_all

	@chmod $(PERM) $(ERRXMLFILE)

	@echo "Patch applied" 

	@rm -rf /tmp/tmp.txt

	@echo " . . . installation done"

	@echo " . . . installation done"

xmlpatch_pre :

	@echo "File permissions: " $(PERM)

	@chmod a+w $(ERRXMLFILE)

	@echo $(PERM) > /tmp/tmp.txt

from __future__ import print_function

import time

from Acspy.Servants.CharacteristicComponent import CharacteristicComponent as cc

from Acspy.Servants.ContainerServices import ContainerServices as services

from Acspy.Servants.ComponentLifecycle import ComponentLifecycle as lcycle

from Acspy.Util.BaciHelper import addProperty

from Acspy.Common.Log import getLogger

from TestNamespaceInterface__POA import Positioner as POA

from Positioner.devios import GenericDevIO, PositionDevIO, SequenceDevIO

__copyright__ = "Marco Buttu <marco.buttu@inaf.it>"

logger = getLogger()

class PositionerImpl(POA, cc, services, lcycle):

    def __init__(self):

        cc.__init__(self)

        services.__init__(self)

        self.position = 0

        self.sequence = (1.1, 2.2, 3.3)

    def initialize(self):

        addProperty(self, 'status', devio_ref=GenericDevIO())

        addProperty(self, 'position', devio_ref=PositionDevIO(self))

        addProperty(self, 'current', devio_ref=GenericDevIO())

        addProperty(self, 'seq', devio_ref=SequenceDevIO(self))

        print('Component initialized')

    def setPosition(self, position):

        print('Setting the position to ', position)

        self.position = position

    def getPosition(self):

        return self.position

    def setSequence(self, sequence):

        self.sequence = sequence

    def getSequence(self):

        return self.sequence