All
Added "STARTING" message to the histmem command status. Can now make multiple script context positional motors Added table and table entry IDs for posit motor lookup tables. Fixed the runsics script so that the stop command sends an EndServer interrupt via the UDP port instead of killing SICS, this ensures that status is saved. Platypus Added chopper speed, phase and phase offsets for all choppers on hdb tree and in datafile Quokka Replace the sample/select command with the changer_position script context positional motor interface. Fixed upper limit on apx motor Added full sample changer and auto aperture positional motors r2727 | ffr | 2008-10-31 15:37:32 +1100 (Fri, 31 Oct 2008) | 14 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
b9e1b19252
commit
04e2e75d80
@@ -3,27 +3,42 @@ namespace eval ::sobj::positmotor {
|
||||
variable posit_indices
|
||||
# TODO Add a script to edit the posit_table and attach it to indexed nodes with read and write actions.
|
||||
|
||||
proc abort_on_invalid_posindex {pos} {
|
||||
proc abort_on_invalid_posindex {pos motor} {
|
||||
variable posit_indices
|
||||
|
||||
set pos0 [lindex $posit_indices 0]
|
||||
set posend [lindex $posit_indices end]
|
||||
set pos0 [lindex $posit_indices($motor) 0]
|
||||
set posend [lindex $posit_indices($motor) end]
|
||||
if {$pos < $pos0 || $pos > $posend} {
|
||||
return -code error "ERROR: Indexed position must be between $pos0 and $posend"
|
||||
}
|
||||
}
|
||||
proc isbetween {val l1 l2} {
|
||||
if {($l1 <= $val && $val <= $l2) || ($l2 <= $val && $val <= $l1)} {
|
||||
return true
|
||||
} else {
|
||||
return false
|
||||
}
|
||||
}
|
||||
|
||||
proc iswithin {val pos prec} {
|
||||
if {[expr $pos - $prec] <= $val && $val <= [expr $pos + $prec]} {
|
||||
return true
|
||||
} else {
|
||||
return false
|
||||
}
|
||||
}
|
||||
|
||||
##
|
||||
# @brief Convert an indexed position to a physical motor position
|
||||
proc pos2val {pos} {
|
||||
proc pos2val {pos motor} {
|
||||
variable posit_table
|
||||
|
||||
if [ catch {
|
||||
abort_on_invalid_posindex $pos
|
||||
abort_on_invalid_posindex $pos $motor
|
||||
set bot [expr int(floor($pos))]
|
||||
set top [expr int(ceil($pos))]
|
||||
set fract [expr fmod($pos,1)]
|
||||
set val [expr $fract * ($posit_table($top) - $posit_table($bot)) + $posit_table($bot)]
|
||||
set val [expr $fract * ($posit_table($motor,$top) - $posit_table($motor,$bot)) + $posit_table($motor,$bot)]
|
||||
} message ] {
|
||||
return -code error $message
|
||||
} else {
|
||||
@@ -33,31 +48,47 @@ namespace eval ::sobj::positmotor {
|
||||
|
||||
##
|
||||
# @brief Convert a physical motor position to and indexed position
|
||||
proc val2pos {val precision} {
|
||||
proc val2pos {val precision motor} {
|
||||
variable posit_table
|
||||
variable posit_indices
|
||||
|
||||
set val [expr double($val)]
|
||||
set pos0 [lindex $posit_indices 0]
|
||||
set posend [lindex $posit_indices end]
|
||||
if {$val < [expr $posit_table($pos0) - $precision]} {return -$pos0}
|
||||
if {$val > [expr $posit_table($posend) + $precision]} {return -$posend}
|
||||
set pos0 [lindex $posit_indices($motor) 0]
|
||||
set posend [lindex $posit_indices($motor) end]
|
||||
|
||||
if {$posit_table($motor,$pos0) < $posit_table($motor,$posend)} {
|
||||
set fwd_table true
|
||||
if {$val < [expr $posit_table($motor,$pos0) - $precision]} {return -$pos0}
|
||||
if {$val > [expr $posit_table($motor,$posend) + $precision]} {return -$posend}
|
||||
} else {
|
||||
set fwd_table false
|
||||
if {$val < [expr $posit_table($motor,$posend) - $precision]} {return -$posend}
|
||||
if {$val > [expr $posit_table($motor,$pos0) + $precision]} {return -$pos0}
|
||||
}
|
||||
|
||||
if [catch {
|
||||
set ibot $pos0
|
||||
set itop [lindex $posit_indices 1]
|
||||
while {$val > [expr $posit_table($itop) + $precision]} {
|
||||
incr ibot
|
||||
incr itop
|
||||
set itop [lindex $posit_indices($motor) 1]
|
||||
if {$fwd_table} {
|
||||
while {$val > [expr $posit_table($motor,$itop) + $precision]} {
|
||||
incr ibot
|
||||
incr itop
|
||||
}
|
||||
} else {
|
||||
while {$val < [expr $posit_table($motor,$itop) - $precision]} {
|
||||
incr ibot
|
||||
incr itop
|
||||
}
|
||||
}
|
||||
set bot [expr $posit_table($ibot)]
|
||||
set top [expr $posit_table($itop)]
|
||||
if {[expr $bot - $precision] <= $val && $val <= [expr $bot + $precision]} {
|
||||
set bot [expr $posit_table($motor,$ibot)]
|
||||
set top [expr $posit_table($motor,$itop)]
|
||||
if [iswithin $val $bot $precision] {
|
||||
set pos $ibot
|
||||
} elseif {[expr $top - $precision] <= $val && $val <= [expr $top + $precision]} {
|
||||
} elseif [iswithin $val $top $precision] {
|
||||
set pos $itop
|
||||
} else {
|
||||
# set pos [format "%.3f" [expr int(($val -$bot)/$precision)*$precision/($top - $bot) + $ibot]]
|
||||
set pos [expr int(($val -$bot)/$precision)*$precision/($top - $bot) + $ibot]
|
||||
set pos [expr abs(int(($val -$bot)/$precision)*$precision/($top - $bot)) + $ibot]
|
||||
}
|
||||
} errmsg] {
|
||||
return -code error $errmsg
|
||||
@@ -71,23 +102,23 @@ namespace eval ::sobj::positmotor {
|
||||
return state_reading_index
|
||||
}
|
||||
|
||||
proc state_reading_index {path par} {
|
||||
proc state_reading_index {path par motor} {
|
||||
variable posit_table
|
||||
sct writestatus replyreceived
|
||||
set rply [val2pos [sct result] [hval $path/motprecision]]
|
||||
set rply [val2pos [sct result] [hval $path/motprecision] $motor]
|
||||
set data $rply
|
||||
# broadcast state_reading_index update parameter $par $data
|
||||
if {$data != [sct oldval] || [sct force_update] } {
|
||||
# if {[status] == "status = Driving" && [hval $path/state] == "idle"} {
|
||||
# hset $path/state busy
|
||||
# if {[status] == "status = Driving" && [hval $path/status] == "IDLE"} {
|
||||
# hset $path/status BUSY
|
||||
# }
|
||||
sct oldval $data
|
||||
sct update $data
|
||||
sct force_update False
|
||||
sct utime readtime
|
||||
}
|
||||
if {[hval $path/state] == "stopping"} {
|
||||
hset $path/state idle
|
||||
if {[hval $path/status] == "STOPPING"} {
|
||||
hset $path/status IDLE
|
||||
}
|
||||
return idle
|
||||
}
|
||||
@@ -98,8 +129,8 @@ namespace eval ::sobj::positmotor {
|
||||
|
||||
# broadcast w_index
|
||||
if [ catch {
|
||||
set val [pos2val [sct target] ]
|
||||
hset $path/state busy
|
||||
set val [pos2val [sct target] $motor]
|
||||
hset $path/status BUSY
|
||||
run $motor $val
|
||||
$sct_controller poll $path 1
|
||||
} errmsg ] {
|
||||
@@ -118,30 +149,37 @@ namespace eval ::sobj::positmotor {
|
||||
return OK
|
||||
}
|
||||
|
||||
proc setposindex {posindex val} {
|
||||
proc setposindex {posindex val motor} {
|
||||
variable posit_table
|
||||
|
||||
set posit_table($posindex) $val
|
||||
set posit_table($motor,$posindex) $val
|
||||
}
|
||||
|
||||
proc mk_sct_positmotor {sct_controller motname param axis posit_list} {
|
||||
proc mk_sct_positmotor {sct_controller motor param table_ID posit_list} {
|
||||
variable posit_table
|
||||
variable posit_indices
|
||||
|
||||
array set posit_table $posit_list
|
||||
set posit_indices [lsort [array names posit_table]]
|
||||
set index 1
|
||||
foreach {label position} $posit_list {
|
||||
lappend posit_indices($motor) $index
|
||||
set posit_table($motor,$index) $position
|
||||
set posit_label($index) $label
|
||||
incr index
|
||||
}
|
||||
# set posit_indices [lsort -integer [array names posit_table]]
|
||||
|
||||
|
||||
|
||||
if [ catch {
|
||||
set ns ::sobj::positmotor
|
||||
set parnode ${motname}_motor
|
||||
set parnode ${motor}_motor
|
||||
MakeSICSObj $parnode SCT_MOTOR
|
||||
# Make setable position parameter and poll it.
|
||||
set posindex_node /sics/${parnode}/${param}
|
||||
hfactory $posindex_node plain spy float
|
||||
hsetprop $posindex_node read ${ns}::rd_index $param $motname
|
||||
hsetprop $posindex_node state_reading_index ${ns}::state_reading_index $posindex_node $param
|
||||
hsetprop $posindex_node write ${ns}::w_index $sct_controller $posindex_node $param $motname
|
||||
hsetprop $posindex_node read ${ns}::rd_index $param $motor
|
||||
hsetprop $posindex_node state_reading_index ${ns}::state_reading_index $posindex_node $param $motor
|
||||
hsetprop $posindex_node write ${ns}::w_index $sct_controller $posindex_node $param $motor
|
||||
hsetprop $posindex_node check ${ns}::check_motor
|
||||
|
||||
hsetprop $posindex_node oldval UNKNOWN
|
||||
@@ -150,23 +188,25 @@ namespace eval ::sobj::positmotor {
|
||||
hfactory $posindex_node/motprecision script "getmotpar samx precision" "samx precision " float 1
|
||||
|
||||
hfactory $posindex_node/lookup_table plain spy none
|
||||
hsetprop $posindex_node/lookup_table numpos [llength $posit_indices]
|
||||
foreach posindex $posit_indices {
|
||||
hfactory $posindex_node/lookup_table/$posindex script "${ns}::pos2val $posindex" "${ns}::setposindex $posindex " float 1
|
||||
hsetprop $posindex_node/lookup_table ID $table_ID
|
||||
hsetprop $posindex_node/lookup_table numpos [llength $posit_indices($motor)]
|
||||
foreach posindex $posit_indices($motor) {
|
||||
hfactory $posindex_node/lookup_table/$posindex script "${ns}::pos2val $posindex $motor" "${ns}::setposindex $posindex $motor " float 1
|
||||
hsetprop $posindex_node/lookup_table/$posindex ID $posit_label($posindex)
|
||||
}
|
||||
|
||||
hfactory $posindex_node/state plain spy text
|
||||
hset $posindex_node/state idle
|
||||
hfactory $posindex_node/status plain spy text
|
||||
hset $posindex_node/status IDLE
|
||||
|
||||
proc ${motname}_MOTEND {} [subst -nocommands {
|
||||
if { [hval $posindex_node/state] == "busy"} {
|
||||
proc ${motor}_MOTEND {} [subst -nocommands {
|
||||
if { [hval $posindex_node/status] == "BUSY"} {
|
||||
$sct_controller poll $posindex_node 5
|
||||
hset $posindex_node/state stopping
|
||||
hset $posindex_node/status STOPPING
|
||||
}
|
||||
}]
|
||||
publish ${ns}::${motname}_MOTEND user
|
||||
publish ${ns}::${motor}_MOTEND user
|
||||
|
||||
scriptcallback connect $motname MOTEND ${ns}::${motname}_MOTEND
|
||||
scriptcallback connect $motor MOTEND ${ns}::${motor}_MOTEND
|
||||
|
||||
$sct_controller poll $posindex_node
|
||||
$sct_controller write $posindex_node
|
||||
@@ -185,6 +225,5 @@ namespace import ::sobj::positmotor::*
|
||||
#
|
||||
# makesctcontroller /controllers/sct_mc1 std localhost:62034
|
||||
#
|
||||
# mk_sct_positmotor sct_mc1 phi phi_posindex A
|
||||
# mk_sct_positmotor sct_mc1 chi B { 1 0 2 15 3 20 }
|
||||
# mk_sct_positmotor sct_mc1 chi index { 1 0 2 15 3 20 }
|
||||
|
||||
|
||||
Reference in New Issue
Block a user