.. _beckhoffdev/implement-a-device:

*********************
Implementing a device
*********************

In order to implement a new Karabo beckhoff device, you will need to
add three files to the Netbeans project. For example, for the digital
output device, you will need
:ref:`SD_digitalOut.hh<beckhoffdev/soft-dev-header>` (being digitalOut
the name of the PLC soft-device), :ref:`BeckhoffDigitalOutput.hh
<beckhoffdev/dev-header>` and :ref:`BeckhoffDigitalOutput.cc
<beckhoffdev/dev-cc>` (being BeckhoffDigitalOutput the name of the
Karabo class implementing the digital output).

.. note::

   All beckhoff device classes names shall start with "Beckhoff".

.. warning::

  Please remember to compile in both Debug and Release mode from
  Netbeans, such that the corresponding Makefiles are updated.

.. _beckhoffdev/soft-dev-header:

Generation of the soft-device header file
=========================================

The soft-device header file can be generated automatically from a live device
A device with a class that has not been added to the `Beckhoff` project will 
appear as a BeckhoffGeneric device.

The following Karabo macro will fill in the boiler plate code for you.
For example: if a device of softdevice class SD_leyboldTP is instantiated
as a `BeckhoffGeneric` devices with deviceId `leybold`, calling the macro

.. code-block:: bash

    python bin/PLCcodeGeneratorKarabo.py generate target=leybold className=Leybold

will generate the file `SD_leyboldTP.hh` header file, the `BeckhoffLeybold.hh`
header file as well as the `BeckhoffLeybold.cc` implementation file.

.. _beckhoffdev/dev-adapt:

The Necessary Adaptations
=========================

Unfortunately not all information is available from the self description.
The developer is tasked with completing the device by adapting the 
autogenerated code in the following way:

- modifying the description of each key 
- implement a "FSM-like" behaviour by adding the `.allowedStates( ... , State::INTERLOCK_BROKEN)`
  where needed.
- implement the hardware State to Karabo State decoding in the function
  `decodeHardwareState`