Generation working and Compilation of MARTe components
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ferrog
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/**
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* @file EPICSCAInput.h
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* @brief Header file for class EPICSCAInput
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* @date 20/04/2017
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* @author Andre Neto
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*
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* @copyright Copyright 2015 F4E | European Joint Undertaking for ITER and
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* the Development of Fusion Energy ('Fusion for Energy').
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* Licensed under the EUPL, Version 1.1 or - as soon they will be approved
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* by the European Commission - subsequent versions of the EUPL (the "Licence")
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* You may not use this work except in compliance with the Licence.
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* You may obtain a copy of the Licence at: http://ec.europa.eu/idabc/eupl
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*
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* @warning Unless required by applicable law or agreed to in writing,
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* software distributed under the Licence is distributed on an "AS IS"
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* basis, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
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* or implied. See the Licence permissions and limitations under the Licence.
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* @details This header file contains the declaration of the class EPICSCAInput
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* with all of its public, protected and private members. It may also include
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* definitions for inline methods which need to be visible to the compiler.
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*/
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#ifndef JAEPICSCAINPUT_H_
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#define JAEPICSCAINPUT_H_
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/*---------------------------------------------------------------------------*/
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/* Standard header includes */
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/*---------------------------------------------------------------------------*/
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#include <cadef.h>
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/*---------------------------------------------------------------------------*/
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/* Project header includes */
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/*---------------------------------------------------------------------------*/
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#include "DataSourceI.h"
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#include "EmbeddedServiceMethodBinderI.h"
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#include "EventSem.h"
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#include "SingleThreadService.h"
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/*---------------------------------------------------------------------------*/
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/* Class declaration */
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/*---------------------------------------------------------------------------*/
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namespace MARTe {
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/**
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* Maximum size that a PV name may have
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*/
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/*lint -esym(551, MARTe::PV_NAME_MAX_SIZE) the symbol is used to define the size of PVWrapper below*/
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const uint32 PV_NAME_MAX_SIZE = 64u;
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/**
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* Wraps a PV
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*/
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struct PVWrapper {
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/**
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* The channel identifier
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*/
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chid pvChid;
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/**
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* The event identifier
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*/
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evid pvEvid;
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/**
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* The PV type
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*/
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chtype pvType;
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/**
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* The memory of the signal associated to this channel
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*/
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void *memory;
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void *previousValue;
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/**
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* The number of elements > 0
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*/
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uint32 numberOfElements;
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/**
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* The memory size
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*/
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uint32 memorySize;
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/**
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* The PV name
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*/
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char8 pvName[PV_NAME_MAX_SIZE];
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};
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/**
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* @brief A DataSource which allows to retrieved data from any number of PVs using the EPICS channel access client protocol.
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* Data is asynchronously retrieved using ca_create_subscriptions in the context of a different thread (w.r.t. to the real-time thread).
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*
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* The configuration syntax is (names are only given as an example):
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*
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* <pre>
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* +EPICSCAInput_1 = {
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* Class = JAEPICSCA::JAEPICSCAInput
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* StackSize = 1048576 //Optional the EmbeddedThread stack size. Default value is THREADS_DEFAULT_STACKSIZE * 4u
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* CPUs = 0xff //Optional the affinity of the EmbeddedThread (where the EPICS context is attached).
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* Signals = {
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* PV1 = { //At least one shall be defined
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* PVName = My::PV1 //Compulsory. Name of the PV.
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* Type = uint32 //Compulsory. Supported types are char8[40], string[40], uint8, int8, uint16, int16, int32, uint32, uint64, int64, float32 and float64
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* NumberOfElements = 1 //Arrays also supported
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* }
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* ...
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* }
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* }
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*
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* </pre>
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*/
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class JAEPICSCAInput: public DataSourceI, public EmbeddedServiceMethodBinderI {
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public:
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CLASS_REGISTER_DECLARATION()
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/**
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* @brief Default constructor. NOOP.
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*/
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JAEPICSCAInput();
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/**
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* @brief Destructor.
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* @details TODO.
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*/
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virtual ~JAEPICSCAInput();
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/**
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* @brief See DataSourceI::AllocateMemory. NOOP.
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* @return true.
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*/
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virtual bool AllocateMemory();
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/**
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* @brief See DataSourceI::GetNumberOfMemoryBuffers.
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* @return 1.
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*/
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virtual uint32 GetNumberOfMemoryBuffers();
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/**
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* @brief See DataSourceI::GetSignalMemoryBuffer.
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* @pre
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* SetConfiguredDatabase
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*/
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virtual bool GetSignalMemoryBuffer(const uint32 signalIdx,
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const uint32 bufferIdx,
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void *&signalAddress);
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/**
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* @brief See DataSourceI::GetNumberOfMemoryBuffers.
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* @details Only InputSignals are supported.
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* @return MemoryMapInputBroker.
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*/
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virtual const char8 *GetBrokerName(StructuredDataI &data,
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const SignalDirection direction);
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/**
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* @brief See DataSourceI::GetInputBrokers.
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* @details adds a memory MemoryMapInputBroker instance to the inputBrokers
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* @return true.
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*/
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virtual bool GetInputBrokers(ReferenceContainer &inputBrokers,
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const char8* const functionName,
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void * const gamMemPtr);
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/**
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* @brief See DataSourceI::GetOutputBrokers.
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* @return false.
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*/
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virtual bool GetOutputBrokers(ReferenceContainer &outputBrokers,
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const char8* const functionName,
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void * const gamMemPtr);
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/**
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* @brief See DataSourceI::PrepareNextState. NOOP.
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* @return true.
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*/
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virtual bool PrepareNextState(const char8 * const currentStateName,
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const char8 * const nextStateName);
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/**
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* @brief Loads and verifies the configuration parameters detailed in the class description.
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* @return true if all the mandatory parameters are correctly specified and if the specified optional parameters have valid values.
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*/
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virtual bool Initialise(StructuredDataI & data);
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/**
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* @brief Final verification of all the parameters. Setup of the memory required to hold all the signals.
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* @details This method verifies that all the parameters requested by the GAMs interacting with this DataSource
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* are valid and consistent with the parameters set during the initialisation phase.
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* In particular the following conditions shall be met:
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* - All the signals have the PVName defined
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* - All the signals have one of the following types: uint32, int32, float32 or float64.
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* @return true if all the parameters are valid and the conditions above are met.
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*/
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virtual bool SetConfiguredDatabase(StructuredDataI & data);
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/**
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* @brief Gets the affinity of the thread which is going to be used to asynchronously read data from the ca_create_subscription.
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* @return the the affinity of the thread which is going to be used to asynchronously read data from the ca_create_subscription.
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*/
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uint32 GetCPUMask() const;
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/**
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* @brief Gets the stack size of the thread which is going to be used to asynchronously read data from the ca_create_subscription.
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* @return the stack size of the thread which is going to be used to asynchronously read data from the ca_create_subscription.
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*/
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uint32 GetStackSize() const;
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/**
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* @brief Provides the context to execute all the EPICS relevant calls.
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* @details Executes in the context of a spawned thread the following EPICS calls:
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* ca_context_create, ca_create_channel, ca_create_subscription, ca_clear_subscription,
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* ca_clear_event, ca_clear_channel, ca_detach_context and ca_context_destroy
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* @return ErrorManagement::NoError if all the EPICS calls return without any error.
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*/
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virtual ErrorManagement::ErrorType Execute(ExecutionInfo & info);
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/**
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* @brief See DataSourceI::Synchronise.
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* @return false.
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*/
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virtual bool Synchronise();
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/**
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* @brief Registered as the ca_create_subscription callback function.
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* It calls updates the memory of the corresponding PV variable.
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*/
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friend void JAEPICSCAInputEventCallback(struct event_handler_args args);
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private:
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/**
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* List of PVs.
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*/
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PVWrapper *pvs;
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/**
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* The CPU mask for the executor
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*/
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uint32 cpuMask;
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/**
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* The stack size
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*/
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uint32 stackSize;
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/**
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* The EmbeddedThread where the ca_pend_event is executed.
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*/
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SingleThreadService executor;
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/**
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* Stores the configuration information received at Initialise.
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*/
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ConfigurationDatabase originalSignalInformation;
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};
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}
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/*---------------------------------------------------------------------------*/
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/* Inline method definitions */
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/*---------------------------------------------------------------------------*/
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#endif /* EPICSCADATASOURCE_H_ */
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