676 lines
18 KiB
Tcl
676 lines
18 KiB
Tcl
# secop driver
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namespace eval secop {} {
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}
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proc stdConfig::secop {{shownUnits ALL}} {
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variable node
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variable name
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set timeout 5
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controller secop timeout=$timeout
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prop commerror secop::errorscript
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prop connection_lost 0
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prop check secop::check
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prop write secop::write
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prop startcmd *IDN?
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prop end_fast 0
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prop secopPath /$name
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prop timeout $timeout
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prop active 0
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prop shownUnits $shownUnits
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set node $node/tasks
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prop start secop::start
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# the pollperiod does not really matter
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pollperiod 5 5
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obj SECoP -text wr
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prop read secop::readmsg
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prop test secop::test
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prop check secop::checkmsg
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prop write secop::writemsg
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prop cmd ""
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variable ctrl
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variable path
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hsetprop /sics/$ctrl ignore_no_response 1
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}
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proc secop::errorscript {} {
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if {[string match {ASCERR: no response*} [sct result]]} {
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sct send ping
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return secop::update
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}
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sct connection_lost 1
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error [sct result]
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}
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proc secop::checkmsg {} {
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# variable MQ[sct]
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# upvar 0 MQ[sct] mq
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# if {![info exists mq]} {
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# # create message queue
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# set mq [list]
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# }
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# if {[llength $mq] > 0} {
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# set next [lindex $mq 0]
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# set mq [lrange $mq 1 end]
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# lappend mq [sct target]
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# sct target $next
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# }
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# interrupt pending wait for update
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[sct controller] timeout 0.001
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# without the following line "0.001" appears on client, why?
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return ""
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}
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proc secop::writemsg {} {
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# we grabbed access, so restore normal timeout
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[sct controller] timeout [sct timeout]
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sct send [sct target]
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return secop::update
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}
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proc secop::readmsg {} {
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if {[sct connection_lost]} {
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sct connection_lost 0
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return [secop::start]
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}
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return [secop::get]
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}
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proc secop::test {} {
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clientput test
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return idle
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}
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proc secop::check {} {
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set validator [silent {} sct validator]
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eval $validator
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lassign [split [hinfo [sct]] ","] type
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if {$type eq "text"} {
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set msg "change [sct secopar] \"[sct target]\""
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} else {
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set msg "change [sct secopar] [sct target]"
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}
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[sct controller] que [sct secopPath] write [list secop::queuedwrite $msg]
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}
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proc secop::queuedwrite {msg} {
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sct changed [DoubleTime]
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# send message on /secop node
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sct send $msg
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return secop::update
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}
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proc secop::write {} {
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# dummy write
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# clientput "secop::write [sct] [hvali [sct]]"
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return idle
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}
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proc secop::get {} {
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sct send ""
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return secop::update
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}
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proc secop::check_range {{low None} {high None}} {
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[sct controller] timeout 0.001
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if {$low ne "None" && [sct target] < $low} {
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error "value [sct target] must be >= $low"
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}
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if {$high ne "None" && [sct target] > $high} {
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error "value [sct target] must be <= $high"
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}
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}
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proc secop::check_enum {} {
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[sct controller] timeout 0.001
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}
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proc secop::check_length {{low None} {high None}} {
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if {$low ne "None" && [string length [sct target]] < $low} {
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error "value [sct target] must not be shorter than $low"
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}
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if {$high ne "None" && [string length [sct target]] > $high} {
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error "value [sct target] must not be longer than $high"
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}
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}
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proc secop::make_par {secopar desc {kind ""}} {
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set path [topath $secopar [silent "" dict get $desc group]]
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array set props $desc
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set validator_args [lassign [silent "" set props(datatype)] secoptype0]
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if {$secoptype0 eq "tuple" && [string match *:status $secopar]} {
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lassign $validator_args elements
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make_par0 text ${path}_text $secopar $desc
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hsetprop ${path}_text width 24
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set validator_args [lassign [lindex $elements 0] secoptype]
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set status_node 1
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} else {
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set secoptype $secoptype0
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set status_node 0
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}
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switch -- $secoptype {
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double {set type float}
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int - enum {set type int}
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string {
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set type text
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# can not use SICS drivable for string
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set kind ""
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}
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bool {set type text}
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none {set type none}
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default {
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clientput "unknown type for $secopar (use text): $secoptype ($props(datatype))"
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set type text
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}
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}
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make_par0 $type $path $secopar $desc $kind
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hsetprop $path secoptype $secoptype0
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if {$status_node} {
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hsetprop $path nonewline 1
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}
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switch -- $secoptype {
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enum {
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set enumprop [list]
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set wid 8
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foreach {name value} [lindex $validator_args 0] {
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lappend enumprop "$name=$value"
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set wid [expr max($wid,[string length $name])]
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}
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hsetprop $path enum [join $enumprop ,]
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if {$wid > 8} {
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hsetprop $path width $wid
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}
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}
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bool {
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hsetprop $path enum 1
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hsetprop $path validator secop::check_enum
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}
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double - int {
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hsetprop $path validator [concat secop::check_range $validator_args]
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}
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string {
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hsetprop $path width 16
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hsetprop $path validator [concat secop::check_range $validator_args]
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}
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}
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return $path
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}
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proc secop::make_par0 {type path secopar desc {kind std}} {
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array set props $desc
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# clientput "$path $desc"
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set readonly [silent 0 set props(readonly)]
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if {$readonly} {
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set priv internal
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} else {
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set priv user
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}
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if {[silent "" hinfo $path] ne ""} {
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error "$path exists already"
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}
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lassign [split $path /] nul obj par
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if {$par eq ""} {
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if {$kind eq "driv"} {
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dynsctdriveobj $obj float user SECoP [sct controller]
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hfactory $path link $obj
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hsetprop $obj checklimits secop::checklimits
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hsetprop $obj halt secop::halt
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# allow start without run:
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hsetprop $obj check secop::checklimits
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hsetprop $obj write secop::complete_run
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set readonly 0
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hsetprop $obj sicscommand "run $obj"
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} else {
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# clientput "OBJ $obj $type"
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dynsicsobj $obj SECoP $priv $type
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hfactory $path link $obj
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}
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hsetprop $path group $obj
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hsetprop $path objectPath $path
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hsetprop /sics/[sct controller] p_$secopar:value $path
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} else {
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if {$par eq "status"} {
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set path /$obj/s_status
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}
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# clientput "PAR $path $type"
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hfactory $path plain $priv $type
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if {[info exists props(visibility)]} {
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if {$props(visibility) >= 3} {
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hsetprop $path visible false
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}
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}
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}
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hsetprop $path secopar $secopar
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hsetprop /sics/[sct controller] p_$secopar $path
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if {!$readonly} {
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[sct controller] write $path
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} else {
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[sct controller] connect $path
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}
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logsetup $path 1
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if {[info exists props(value)]} {
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clientput "VALUE in descr $path"
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if {[catch {hupdate /$path $props(value)} msg]} {
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clientput $msg
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}
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unset props(value)
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}
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set fmtunit ""
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if {[info exists props(unit)]} {
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set fmtunit [format { [%s]} $props(unit)]
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if {$par eq "" || $par eq "target"} {
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if {[sct shownUnits] eq "ALL" || [lsearch [sct shownUnits] $props(unit)] >= 0} {
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GraphAdd $path $props(unit) [join [lrange [split $path /] 1 end] .]
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}
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}
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}
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if {[info exists props(description)]} {
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hsetprop $path help "$props(description)$fmtunit"
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unset props(description)
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}
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foreach {prop item} [array get props] {
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hsetprop $path s_$prop $item
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}
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}
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proc secop::make_cmd {secopar desc {first 0}} {
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array set props $desc
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set path [topath $secopar [silent "" dict get $desc group]]
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lassign [split $secopar :] obj cmd
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lassign [silent "" set props(arguments)] secoptype validator
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if {$secoptype eq ""} {
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$obj makescriptfunc $cmd "secop::check_cmd [sct secopPath] $secopar" user
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hsetprop $path newline $first
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hsetprop $path secopar $secopar
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hsetprop $path sicscommand "$obj $cmd"
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if {[info exists props(visibility)]} {
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if {$props(visibility) >= 3} {
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hsetprop $path visible false
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}
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}
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} else {
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if {[llength $secoptype] == 1} {
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set secoptype [lindex $secoptype 0]
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}
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clientput "MAKE_CMD $secoptype"
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dict set desc datatype $secoptype
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make_par $secopar $desc
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lassign $secoptype maintype
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if {$maintype eq "double" || $maintype eq "int" || $maintype eq "bool"} {
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hsetprop $path check "secop::check_cmd_num [sct secopPath] $secopar"
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} else {
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hsetprop $path check "secop::check_cmd_text [sct secopPath] $secopar"
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}
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}
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}
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proc secop::check_cmd {secopPath secopar} {
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hset $secopPath "do $secopar"
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}
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proc secop::check_cmd_num {secopPath secopar} {
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hset $secopPath [format {do %s [%.15g]} $secopar [sct target]]
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sct update [sct target]
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}
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proc secop::check_cmd_text {secopPath secopar} {
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hset $secopPath [format {do %s ["%s"]} $secopar [sct target]]
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sct update [sct target]
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}
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proc secop::make_module {obj desc} {
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if {[obj_list exists $obj]} {
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clientput "$obj exists already"
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return
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}
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obj_list makeitem $obj /$obj
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array unset modprop
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set parlist [list]
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set cmdlist [list]
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set pardict [dict create]
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foreach {key item} $desc {
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switch $key {
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parameters {
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set parlist $item
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}
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commands {
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set cmdlist $item
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}
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default {
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set modprop($key) $item
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}
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}
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}
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if {[dict exists $parlist value]} {
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set value [dict get $parlist value]
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dict unset parlist value
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} else {
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set value [dict create datatype none]
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}
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set classes [silent "" set modprop(interface_class)]
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if {[string match "* Drivable *" " $classes "]} {
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set path [make_par $obj $value driv]
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} else {
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set path [make_par $obj $value]
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}
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if {[info exists modprop(visibility)] && $modprop(visibility) >= 3} {
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hdelprop $path group
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}
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foreach {prop val} [array get modprop] {
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hsetprop $obj sm_$prop $val
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}
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device_layout makeitem /$obj [silent 0 set modprop(layoutpos)]
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set groups [dict create]
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foreach {parname pardesc} [concat $parlist $cmdlist] {
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if {[dict exists $pardesc group]} {
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dict set groups [dict get $pardesc group] 1
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}
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}
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foreach g [dict keys $groups] {
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clientput "GROUP $g"
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hfactory $obj/$g plain user none
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hsetprop $obj/$g group "group $g"
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}
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foreach {parname pardesc} $parlist {
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make_par $obj:$parname $pardesc
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}
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# first commands with arguments
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foreach {parname pardesc} $cmdlist {
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if {[dict get $pardesc arguments] ne ""} {
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make_cmd $obj:$parname $pardesc 1
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}
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}
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# then commands without arguments, on one line
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set first 1
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foreach {parname pardesc} $cmdlist {
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if {[dict get $pardesc arguments] eq ""} {
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make_cmd $obj:$parname $pardesc $first
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set first 0
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}
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}
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}
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proc secop::make_node {desc} {
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array unset nodeprop
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set modlist [list]
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foreach {key item} $desc {
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switch $key {
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modules {
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set modlist $item
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}
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default {
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set nodeprop($key) $item
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}
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}
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}
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foreach {modname moddesc} $modlist {
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make_module $modname $moddesc
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}
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foreach {prop val} [array get nodeprop] {
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sct sn_$prop $val
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}
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sort_layout
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}
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proc secop::topath {secopar {pargroup ""}} {
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lassign [split [string tolower $secopar] :] module parameter
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if {$parameter eq "value" || $parameter eq ""} {
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return "/$module"
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}
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if {$parameter eq "status"} {
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set parameter s_status
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}
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if {[string match {_*} $parameter]} {
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set parameter [string range $parameter 1 end]
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}
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if {$pargroup ne ""} {
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return "/$module/$pargroup/$parameter"
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}
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return "/$module/$parameter"
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}
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proc secop::update {} {
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set sent_message [silent 0 sct sent_message]
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set message_to_client ""
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lassign [sct result] messagetype par val
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set path [silent "" hgetpropval /sics/[sct controller] p_$par]
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lassign [split $par :] obj
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switch $messagetype {
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update - changed {
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#if {[sct] ne "/secop"} {
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# clientput "[sct] is not /secop, why?"
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#}
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#if {![sct active]} {
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# clientput [sct result]
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#}
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if {$messagetype eq "changed"} {
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if {[string match *:target $par]} {
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hsetprop /$obj writestatus done
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}
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hsetprop $path changed 0
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if {[lrange $sent_message 0 1] eq [list change $par]} {
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set message_to_client [sct result]
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}
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# clientput "CH $path [sct result]"
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} else {
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if {[DoubleTime] < [silent 0 hgetpropval $path changed] + 10} {
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# ignore updates of variables during change
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# clientput "ignore [sct result]"
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return idle
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}
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if {[lrange $sent_message 0 1] eq [list read $par]} {
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set message_to_client [sct result]
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}
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}
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lassign $val value qual
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if {[silent 0 hgetpropval $path secoptype] eq "tuple" &&
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[string match *:status $par]} {
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if {[llength $value] > 2} {
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set text_value [lrange $value 1 end]
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} else {
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set text_value [lindex $value 1]
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}
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set objpath [sct parent $path]
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set visible_old [silent true hgetpropval $objpath visible]
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if {$text_value ne "disabled"} {
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set visible_new true
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set shown 1
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} else {
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set visible_new false
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set shown 0
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}
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if {$visible_new ne $visible_old} {
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hsetprop $objpath visible $visible_new
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GraphItem shown $objpath $shown
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}
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lassign $value value
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if {[catch {updateval ${path}_text $text_value}]} {
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clientput "cannot update ${path}_text to $text_value"
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clientput "MSG([sct result])"
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}
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if {[string match *:status $par]} {
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set oldstatus [silent idle hgetpropval /$obj status]
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if {[silent 0 hgetpropval /$obj writestatus] eq "start"} {
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set status run
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} elseif {[string match 3* $value]} {
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set status run
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} elseif {[string match 4* $value]} {
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set status posfault
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} else {
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set status idle
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if {[silent "" hgetpropval $obj type] eq "drivable" && $oldstatus eq "run"} {
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if {[catch {
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set oldvalue [silent 0 hgetpropval $obj value_before_run]
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set oldtarget [silent 0 hgetpropval $obj target_before_run]
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set value [hval /$obj]
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set target [silent 0 hgetpropval /$obj target]
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set delay [expr [DoubleTime] - [silent 0 hgetpropval $obj write_time]]
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if {abs($value - $oldvalue) < abs($target - $oldtarget) * 0.1 && $delay < 10} {
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# clientput "WARNING: $obj status is idle, but value has not moved: abs($value - $oldvalue) < abs($target - $oldtarget) * 0.1 delay $delay"
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set status run
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}
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} msg]} {
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clientput "WARNING: $msg"
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}
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}
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}
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hsetprop /$obj status $status
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}
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}
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if {[catch {updateval $path $value} msg]} {
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if {$value eq "None"} {
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hsetprop $path geterror None
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} else {
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clientput "cannot update $path to $value"
|
|
clientput $msg
|
|
}
|
|
} elseif {[string match *:target $par]} {
|
|
# clientput [sct result]/[silent "" hgetpropval /$obj status]
|
|
if {[silent "" hgetpropval /$obj status] eq "idle"} {
|
|
hsetprop /$obj target $value
|
|
}
|
|
}
|
|
catch {
|
|
hsetprop $path timestamp [dict get $qual t]
|
|
}
|
|
}
|
|
pong {
|
|
if {[lindex $sent_message 0] eq "ping"} {
|
|
set message_to_client [sct result]
|
|
}
|
|
}
|
|
done {
|
|
if {[lrange $sent_message 0 2] eq [list do $par]} {
|
|
set message_to_client [sct result]
|
|
} else {
|
|
clientput "done $par $val"
|
|
}
|
|
}
|
|
active {
|
|
if {[lindex $sent_message 0] eq "activate"} {
|
|
set message_to_client [sct result]
|
|
} else {
|
|
clientput ACTIVE
|
|
}
|
|
sct active 1
|
|
sct end_fast 0
|
|
}
|
|
error {
|
|
lassign $val origin info
|
|
lassign $origin requesttype requestpar requestval
|
|
set path [silent "" hgetpropval /sics/[sct controller] p_$requestpar]
|
|
if {$requesttype eq "change" && $path ne ""} {
|
|
hsetprop $path changed 0
|
|
}
|
|
set errortext [lindex [dict get $info errorinfo] 0]
|
|
if {$origin eq $sent_message} {
|
|
set message_to_client [sct result]
|
|
} else {
|
|
clientput "ERROR: $path $errortext"
|
|
}
|
|
}
|
|
default {
|
|
if {$sent_message ne ""} {
|
|
set message_to_client [sct result]
|
|
} else {
|
|
# show untreated message
|
|
clientput [sct result]
|
|
}
|
|
}
|
|
}
|
|
if {$message_to_client ne ""} {
|
|
clientput "> $sent_message\n< $message_to_client"
|
|
sct sent_message ""
|
|
sct sent_time 1e20
|
|
} elseif {[DoubleTime] > [silent 1e20 sct sent_time] + 10} {
|
|
clientput "timeout waiting for response to $sent_message"
|
|
sct sent_message ""
|
|
sct sent_time 1e20
|
|
}
|
|
if {[DoubleTime] < [sct end_fast]} {
|
|
return secop::get
|
|
}
|
|
[sct controller] queue [sct] read secop::get
|
|
return idle
|
|
}
|
|
|
|
proc secop::checklimits {} {
|
|
# for whatever strange reason checklimits is called twice
|
|
# in addition again as write script of the obj node
|
|
# do this only once
|
|
if {[silent 0 sct status] ne "run" ||
|
|
[sct target] != [silent "x" hgetpropval [sct]/target target]} {
|
|
sct value_before_run [hval [sct]]
|
|
sct target_before_run [hval [sct]/target]
|
|
hset [sct]/target [sct target]
|
|
sct status run
|
|
}
|
|
}
|
|
|
|
proc secop::complete_run {} {
|
|
sct print "run [sct objectName] to [sct target]"
|
|
return idle
|
|
}
|
|
|
|
proc secop::halt {} {
|
|
[sct objectName] stop
|
|
sct writestatus done
|
|
sct target_before_run [silent 0 sct target]
|
|
# sct status posfault
|
|
# clientput HALT:[sct]
|
|
return idle
|
|
}
|
|
|
|
proc secop::start {} {
|
|
[sct controller] timeout [sct timeout]
|
|
sct send *IDN?
|
|
return secop::getidn
|
|
}
|
|
|
|
proc secop::getidn {} {
|
|
clientput [sct result]
|
|
[sct controller] queue [sct secopPath] start secop::describe
|
|
sct active 0
|
|
return idle
|
|
}
|
|
|
|
proc secop::describe {} {
|
|
sct send describe
|
|
return secop::describing
|
|
}
|
|
|
|
proc secop::describing {} {
|
|
lassign [sct result] messagetype par val
|
|
switch $messagetype {
|
|
describing {
|
|
do_as_manager {
|
|
make_node $val
|
|
}
|
|
}
|
|
default {
|
|
clientput "ignore $messagetype $par ..."
|
|
}
|
|
}
|
|
sct send activate
|
|
sct end_fast [expr [DoubleTime] + 5]
|
|
return secop::update
|
|
}
|
|
|
|
proc secop_send {args} {
|
|
hset /secop $args
|
|
hsetprop /secop sent_message $args
|
|
hsetprop /secop sent_time [DoubleTime]
|
|
}
|
|
|
|
publishLazy secop_send
|