function res = idSetUndParamSync(idName, attrName, attrValue, attrAbsTol)

res = 0;
%DServName = '';
%StandByStr = ''; %String to search in the return of "Status" command of DServer
%ActStatusStr = '';
%attr_name_list = {''};

numLoopsWaitRes = 2; %% valeur originale 300
sleepTime = 3; %[s]
sleepTimeFin = 7; %[s]
useAppleIIDServerLevel1 = 0;
%useModeAnti = 0; 
%attrNameIsRecognized = 0;

[DServName, StandByStr] = idGetUndDServer(idName);

if strcmp(idName, 'HU80_TEMPO')
    %DServName = 'ANS-C08/EI/M-HU80.2'; %Name of Level 2 DServer
    %StandByStr = 'ANS-C08/EI/M-HU80.2_MotorsControl : STANDBY'; 
    
    %if strcmp(attrName, 'gap')
    %    attrNameIsRecognized = 1;
    %elseif strcmp(attrName, 'phase')
    %    attrNameIsRecognized = 1;
    %end
    %if attrNameIsRecognized == 0
    %    fprintf('Undulator Parameter / Device Server Attribute name is not recognized\n');
    %    res = -1; return;
    %end
     
	if strcmp(attrName, 'mode')
       attrValue = int16(attrValue);
	end
    
    %Debug
    %    attr_val_list = tango_read_attributes(DServName, attr_name_list);
    %    if (tango_error == -1) %handle error 
    %        tango_print_error_stack; return;
    %    end
    %End Debug
end

if strcmp(DServName, '') ~= 0
    fprintf('Device Server name is not specified\n');
    res = -1; return;
end

attr_name_val_list(1).name = attrName; attr_name_val_list(1).value = attrValue;
attr_name_list = {attr_name_val_list(1).name};
%attr_name_list_AppleIILevel1 = {'encoder1Position','encoder2Position','encoder3Position','encoder4Position'};

if strcmp(idName, 'HU52_DEIMOS')
    useAppleIIDServerLevel1 = 0;
end

if useAppleIIDServerLevel1
    %special case: controlling via DServer of Level 1
    
    if (strcmp(attrName, 'gap') || strcmp(attrName, 'GAP'))
        attr_name_list = {'encoder1Position','encoder2Position','encoder3Position','encoder4Position'};
        tango_command_inout2(DServName, 'GotoGap', attrValue);
    elseif (strcmp(attrName, 'phase') || strcmp(attrName, 'PHASE'))
        attr_name_list = {'encoder5Position','encoder6Position'};
        multMode = 1;
        if(imag(attrValue) ~= 0)
            multMode = -1;
        end
        tango_command_inout2(idSetUndParamSyncDServName, 'GotoPhase', [real(attrValue), multMode*real(attrValue)]);
    end
else 
    tango_write_attributes(DServName, attr_name_val_list);
end


if (tango_error == -1) %handle error 
    tango_print_error_stack;
    
    pause(sleepTime);
    fprintf('Trying to repeat writing attributes after pause...\n');
    
    if useAppleIIDServerLevel1
        %special case: controlling via DServer of Level 1
        if (strcmp(attrName, 'gap') || strcmp(attrName, 'GAP'))
            tango_command_inout2(DServName, 'GotoGap', attrValue);
        elseif (strcmp(attrName, 'phase') || strcmp(attrName, 'PHASE'))
            multMode = 1;
            if(imag(attrValue) ~= 0)
                multMode = -1;
            end
            tango_command_inout2(DServName, 'GotoPhase', [real(attrValue), multMode*real(attrValue)]);
        end
    else 
        tango_write_attributes(DServName, attr_name_val_list);
    end
    
    if (tango_error == -1) %handle error 
        tango_print_error_stack;
        fprintf('Failed again. Returning from the function abnormally.\n');
        %res = -1; %hoping that it could still recover
        return;
    else
        fprintf('Succeeded writing attributes from 2nd attempt. Continuing execution of the function.\n');
    end
end

%Waiting until the parameter is actually set
for i = 1:numLoopsWaitRes
    
    attr_val_list = tango_read_attributes(DServName, attr_name_list);
    
    if (tango_error == -1) %handle error 
        tango_print_error_stack; 
        
        pause(sleepTime);
        fprintf('Trying to repeat reading attributes after pause...\n');
        attr_val_list = tango_read_attributes(DServName, attr_name_list);
        if (tango_error == -1) %handle error 
            tango_print_error_stack;
            fprintf('Failed again. Returning from the function abnormally.\n');
            %res = -1; %hoping that it could still recover
            return;
        else
            fprintf('Succeeded reading attributes from 2nd attempt. Continuing execution of the function.\n');
        end
    end

    %valRequested = attr_name_val_list(1).value;
	valRequested = real(attrValue);
    valSet = attr_val_list(1).value(1); %check why (1)
    
	if useAppleIIDServerLevel1
        if (strcmp(attrName, 'gap') || strcmp(attrName, 'GAP'))
            valSet = 0.5*(attr_val_list(1).value + attr_val_list(2).value + attr_val_list(3).value + attr_val_list(4).value); %check
        elseif (strcmp(attrName, 'phase') || strcmp(attrName, 'PHASE'))
            valSet = 0.5*(abs(attr_val_list(1).value) + abs(attr_val_list(2).value))*sign(attr_val_list(1).value); %check
        end
    end
    
    if(abs(valRequested - valSet) <= attrAbsTol)
        %fprintf('%s',StandByStr )
        %fprintf('\n' )
        if strcmp(StandByStr, '') == 0
            %% fprintf('%s', 'STANDBYSTR NON NUL') 
            attr_val_list_status = tango_read_attributes(DServName, {'Status'});
            if (tango_error == -1) %handle error 
                tango_print_error_stack; 
                
                pause(sleepTime);
                fprintf('Trying to repeat reading attributes after pause...\n');
                attr_val_list_status = tango_read_attributes(DServName, {'Status'});
                if (tango_error == -1) %handle error 
                    tango_print_error_stack;
                    fprintf('Failed again. Returning from the function abnormally.\n');
                    %res = -1; %hoping that it could still recover
                    return;
                else
                    fprintf('Succeeded reading attributes from 2nd attempt. Continuing execution of the function.\n');
                end
            end
            ActStatusStr = attr_val_list_status.value;
            %fprintf('%s %s',ActStatusStr, 'Number 2')
            cmpStatus = strfind(ActStatusStr, StandByStr)
            if (length(cmpStatus)>0)
                pause(sleepTimeFin); %to ensure that corrector values are set
                return; %Normal exit
            end
        else
            pause(sleepTimeFin); %to ensure that corrector values are set
            %% fprintf('%s', 'STANDBYSTR NUL') 
            return; %Normal exit
        end
    end
    pause(sleepTime);
end

res = -1;
fprintf('Failed to set requested Undulator Parameter value\n');