Load instrument specific rules if defined in the anticollider.tcl

site_ansto/instrument/config/anticollider/anticollider_common.tcl

@@ -1,8 +1,6 @@
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 
 # TODO Handle sequencing when simultaneously moving multiple axes
-# TODO Handle functional dependencies (just write your own tcl script)
-#      or get the generic acscript to call a user proc
 
 AntiCollisionInstall
 namespace eval anticollider {
@@ -11,11 +9,41 @@ namespace eval anticollider {
 array unset ::anticollider::veto_region 
 array set ::anticollider::veto_region ""
 
+# Don't show 'acscript' call on error.  This is done by the anticollider
+# module.
+proc handle_acscript_exception {status message args} {
+  switch $status {
+    0 {
+      # TCL_OK, This is raised when you just drop out of the
+      # bottom of a 'catch' command.
+      return -code ok
+    }
+    1 {
+      # TCL_ERROR
+      return -code error "$message: $args"
+    }
+    2 {
+      # TCL_RETURN
+      return -code return "$message"
+    }
+    3 {
+      # TCL_BREAK
+      return -code break
+    }
+    4 {
+      # TCL_CONTINUE
+      return -code continue
+    }
+    default {
+    # Propogate user defined return codes with message
+      return -code $status "$message"
+    }
+  }
+}
 ##
 # @brief Load an anticollider script
 proc ::anticollider::loadscript {args} {
-  variable prog
+  variable veto_rules
-  set prog ""
 
   set fh [open $::cfPath(anticollider)/[lindex $args 0] RDONLY ] 
   while {[gets $fh line] >= 0} {
@@ -23,7 +51,7 @@ proc ::anticollider::loadscript {args} {
     if [regexp {^\s*$|^ *#} $line] {
       continue
     }
-    lappend prog $line
+    lappend veto_rules $line
   }
 }
 
@@ -31,7 +59,7 @@ proc ::anticollider::loadscript {args} {
 # @brief Compile compile an anticollider declaration into a veto region table
 # for the anticollider script.
 #
-# @param vprog, an anticollider declaration as a list of quote enclosed lines.
+# @param veto_rules, an anticollider declaration as a list of quote enclosed lines.
 # @return Generates the ::anticollider::veto_region lookup table.  
 #
 # Example\n
@@ -42,14 +70,16 @@ proc ::anticollider::loadscript {args} {
 # for sphi forbid { {0 5} {10 15} } when schi in { {5 10} {15 20} }\n
 # forbid {-inf 5} when mtth in {0 10} for sphi\n
 # forbid {0 10} for samx whenall { samrot in {0 5} samy in {0 15} }\n
-proc ::anticollider::genveto {vprog} {
+proc ::anticollider::genveto {veto_rules} {
   variable veto_region
   array unset veto_region 
   set lnum 1
 
-  foreach line $vprog {
+  foreach line $veto_rules {
     array unset vp
     array set vp $line
+    clientput "::anticollider::veto_rule: $line"
+
     if [info exists vp(whenall)] {
       foreach {mot in range} $vp(whenall) {
 #       if {[llength [join $range]] != 2} {
@@ -147,7 +177,6 @@ proc ::anticollider::veto_region_acscript {args} {
         }
       }
       }
-      anticollision add 0 $regmot $target
     }
   } message ]
   handle_exception $catch_status $message
@@ -159,30 +188,38 @@ proc ::anticollider::init {} {
   variable evp
   variable veto_region
 
-  if [ catch {
+  set catch_status [ catch {
-    ::anticollider::genveto $::anticollider::prog
+    if { ![info exists ::anticollider::veto_rules] } {
+      return
+    }
+    clientput Load anticollider rules:
+    if { [info procs ::anticollider::load_acrules] == "::anticollider::load_acrules" } {
+      ::anticollider::load_acrules
+    }
+    ::anticollider::genveto $::anticollider::veto_rules
     foreach motor [array names veto_region] {
       anticollision register $motor
     }
-  } message ] {
-    clientput [info level 0] ERROR: $message
-    if {$::errorCode=="NONE"} {return $message}
-    return -code error $message
-  }
-}
-
-proc ::anticollider::acscript {args} {
-  set catch_status [ catch {
-    if {[::anticollider::enable $args] == "false"} {
-      foreach {regmot target} $args {
-        anticollision add 0 $regmot $target
-      }
-      return
-    }
-    ::anticollider::veto_region_acscript {*}$args
   } message ]
   handle_exception $catch_status $message
 }
 
+lappend ::anticollider::scripts ::anticollider::veto_region_acscript
+proc ::anticollider::acscript {args} {
+  set catch_status [ catch {
+    if {[::anticollider::enable $args] == "false"} {
+      return
+    } else {
+      foreach {regmot target} $args {
+        anticollision add 0 $regmot $target
+      }
+    }
+    foreach script $::anticollider::scripts {
+      $script {*}$args
+    }
+  } message ]
+  handle_acscript_exception $catch_status $message
+}
+
 publish ::anticollider::acscript user
 anticollision script ::anticollider::acscript