initial commit

tcl/drivers/loop.tcl

@@ -0,0 +1,178 @@
+# software pi loop
+namespace eval loop {
+}
+
+if {![namespace exists trun]} {
+  source drivers/trun.tcl
+}
+
+proc stdConfig::loop args {
+  variable name
+  variable path
+  variable node
+  
+  scanargs $args var -invar -outvar -outmin 0 -outmax 1 -prop 1 -int 1 -maxdelta 60 -precision 0.001 -mindelta 0
+
+  variable hostport none
+  controller syncedprot
+
+  obj loop -drive out
+  prop lastinput 0
+  kids "$name control parameters" {
+    node mode -int out
+    default 0
+    prop enum off,on,manual
+    prop check loop::checkmode
+    prop write stdSct::completeUpdate
+
+    node output out
+    default $outmin
+    prop check loop::checkoutput
+    prop write stdSct::completeUpdate
+
+    node invar -text out
+    default 0
+    prop check loop::setinvar
+    prop write stdSct::completeUpdate
+    prop visible false
+
+    node outvar -text par $outvar
+    prop visible false
+    
+    node pollinput rd
+    prop read stdSct::complete
+
+    node prop par $prop
+    prop help "the bigger, the less sensible"
+
+    node int par $int
+    node outmin par $outmin
+    node outmax par $outmax
+    
+    node precision par $precision
+    prop label "output precision"
+    
+    node maxdelta par $maxdelta
+
+    node mindelta par $mindelta
+  }
+  stdConfig::tdrive "$name control parameters" self loop::settarget
+#  hset $path/setcmd loop::settarget
+  hset $path/invar $invar
+}
+
+proc loop::checkmode {} {
+  if {[sct target] == 0} {
+    set output [hvali [sct parent]/outmin]
+    hset [sct parent]/output $output
+  }
+}
+
+proc loop::updateinput {value} {
+  set prop [hvali [sct]/prop]
+  set int [hvali [sct]/int]
+  set outmin [hvali [sct]/outmin]
+  set outmax [hvali [sct]/outmax]
+  set span [expr double($outmax - $outmin)]
+  set maxdelta [hvali [sct]/maxdelta]
+  set mindelta [hvali [sct]/mindelta]
+  set precision [hvali [sct]/precision]
+  set input $value
+
+  set effoutput [eval "result [hvali [sct]/outvar]"]
+  if {[hvali [sct]/mode] == 2} {
+    return idle
+  }
+  if {[hvali [sct]/mode] == 0} {
+    # to be put into write script of ../mode
+    if {$effoutput > $outmin} {
+      eval "[hvali [sct]/outvar] $outmin"
+    }
+    return idle
+  }
+  set output [hvali [sct]/output]
+  if {abs($effoutput - $output) > $precision} {
+    clientput "$output -> $effoutput"
+    set output $effoutput
+  }
+  set now [clock seconds]
+  if {[sct lastinput] == 0} {
+    set deltat 1
+  } else {
+    set deltat [expr $now - [sct lastinput]]
+    if {$deltat < $mindelta} {
+      return idle
+    }
+    if {$deltat > $maxdelta} {
+      set deltat $maxdelta
+    }
+  }
+  sct lastinput $now
+  set lastdif [silent 0 sct lastdif]
+
+  set dif [expr double([hvali [sct]/set] - $input)]
+  set output [expr $output + $span/$prop \
+               * (($dif - $lastdif) * $deltat + $dif / $int)]
+  sct lastdif $dif
+
+  if {$outmax > $outmin} {
+    if {$output > $outmax} {
+      set output $outmax
+    } elseif {$output < $outmin} {
+      set output $outmin
+    }
+  } else {
+    if {$output < $outmax} {
+      set output $outmax
+    } elseif {$output > $outmin} {
+      set output $outmin
+    }
+  }
+  hset [sct]/output $output
+  return idle
+}
+
+# updatescript on the remote input node
+proc loop::updateinput1 {value} {
+  set loopobj [sct loopobj]
+  if {[silent 0 sct geterror] eq "0"} {
+    updateval $loopobj $value
+  }
+  return
+}
+
+proc loop::setinvar {} {
+  if {[silent none hgetprop [sct target] sicscommand] eq "none"} {
+    set t [sct parent]/pollinput
+    sct target [sct parent]/pollinput
+    # clientput "Tp $t"
+  } else {
+    set t [sct target]
+    # clientput "Tt $t"
+  }
+  [sct controllerName] updatescript [sct parent] loop::updateinput
+  [sct controllerName] updatescript $t loop::updateinput1
+  hsetprop $t loopobj [sct parent]
+  hsetprop $t read loop::pollinput
+  return
+}
+
+proc loop::pollinput {} {
+  catch {sct update [result [hval [sct parent]/invar]]}
+  return idle
+}
+
+proc loop::settarget {target} {
+  updateval [sct]/mode 1
+  sct print "[sct]/set = $target"
+  return idle
+}
+
+proc loop::updtarget {} {
+  sct print "[sct]/set = [sct target]"
+  return idle
+}
+
+proc loop::checkoutput {} {
+  eval "[hvali [sct parent]/outvar] [sct target]"
+}