Pullback from Kookaburra 2015-02-19

site_ansto/instrument/config/anticollider/anticollider_common.tcl

@@ -93,6 +93,7 @@ proc ::anticollider::genveto {veto_rules} {
         lappend condlist $mot $range
       }
       lappend veto_region($vp(for)) [list $vp(forbid) @and $condlist]
+      unset condlist
     } elseif [info exists vp(when)] {
       lappend veto_region($vp(for)) [list $vp(forbid) $vp(when) $vp(in)]
     } else {
@@ -132,12 +133,12 @@ proc ::anticollider::veto_region_acscript {args} {
       foreach row  $veto_region($regmot) {
       if { [lindex $row 1] == "@and"} {
         set forbid [lindex $row 0]
-        set veto 0
+        set veto 1
         foreach {mot range} [lindex $row 2] {
           set pos [SplitReply [$mot]]
           foreach {lower upper} [join $range] {
-            if {$pos >= $lower && $pos <= $upper} {
+            if {$pos < $lower || $pos > $upper} {
-              set veto 1
+              set veto 0
               break
             }
           }
@@ -147,7 +148,10 @@ proc ::anticollider::veto_region_acscript {args} {
         } else {
           foreach {min max} $forbid {}
           if {$min <= $target && $target <= $max} {
-            error "ERROR:The range ($forbid) is forbidden for $regmot when [lindex $row 2]"
+            foreach {mot range} [lindex $row 2] {
+              lappend msg [list $mot in $range]
+            }
+            error "ERROR:The range ($forbid) is forbidden for $regmot when [join $msg { and }]"
           }
         }
       } else {
@@ -212,15 +216,13 @@ proc ::anticollider::init {} {
 lappend ::anticollider::scripts ::anticollider::veto_region_acscript
 proc ::anticollider::acscript {args} {
   set catch_status [ catch {
-    if {[::anticollider::enable $args] == "false"} {
+    foreach {regmot target} $args {
-      return
+      anticollision add 0 $regmot $target
-    } else {
-      foreach {regmot target} $args {
-        anticollision add 0 $regmot $target
-      }
     }
-    foreach script $::anticollider::scripts {
+    if {[::anticollider::enable $args] == "true"} {
-      $script {*}$args
+      foreach script $::anticollider::scripts {
+        $script {*}$args
+      }
     }
   } message ]
   handle_acscript_exception $catch_status $message

site_ansto/instrument/config/environment/sct_knauer_pump.tcl

@@ -3,7 +3,7 @@
 #
 
 namespace eval ::scobj::knauer_pump {
-  set debug_threshold 0
+  set debug_threshold 5
 }
 
 proc ::scobj::knauer_pump::debug_log {tc_root debug_level debug_string} {
@@ -1115,7 +1115,7 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
     }
     hsetprop ${scobj_hpath} klass ${device_class}
     hsetprop ${scobj_hpath} data true
-    hsetprop ${scobj_hpath} debug_threshold 0
+    hsetprop ${scobj_hpath} debug_threshold 5
     if {[string equal -nocase "${simulation_flag}" "false"]} {
       ansto_makesctdrive ${name}_pump_volume_setp ${scobj_hpath}/pump/volume/setp ${scobj_hpath}/pump/volume/pval ${sct_controller}
     }

site_ansto/instrument/config/environment/temperature/sct_lakeshore_370.tcl

@@ -50,7 +50,7 @@ namespace eval ::scobj::[set vendor]_[set device] {
 
   proc debug_log {debug_level arg_string} {
     # write a timestamped string message to a log file for debugging
-    set debug_threshold 0
+    set debug_threshold 5
     if {$debug_level >= $debug_threshold} {
       set fd [open "[set [namespace current]::log_file]" "a"]
       set line "[clock format [clock seconds] -format "%T"] $arg_string"

site_ansto/instrument/config/environment/temperature/sct_oxford_mercury.tcl

@@ -58,7 +58,7 @@ namespace eval ::scobj::[set vendor]_[set device] {
 
   proc debug_log {debug_level arg_string} {
     # write a timestamped string message to a log file for debugging
-    set debug_threshold 0
+    set debug_threshold 5
     if {$debug_level >= $debug_threshold} {
       set fd [open "[set [namespace current]::log_file]" "a"]
       set line "[clock format [clock seconds] -format "%T"] $arg_string"

site_ansto/instrument/kookaburra/config/anticollider/acscript.txt

@@ -1,4 +1,13 @@
-# Forbid detector motion when the detector voltage is on
+# Prevent m2om encoder from driving into sample holder.
-# comment out -- Jing
+forbid {10 inf} for m2om whenall {m2y in {-inf 200} m2om in {-inf 10}}
-#forbid {-inf inf} for det    when dhv1 in {800 inf}
+forbid {-inf 170} for m2om whenall {m2y in {-inf 200} m2om in {170 inf}}
-#forbid {-inf inf} for detoff when dhv1 in {800 inf}
+forbid {-inf inf} for m2om whenall {m2y in {-inf 200} m2om in {11 169}}
+forbid {-inf 200} for m2y when m2om in {10 170}
+
+# Following two rules allow recovery if m2om position has crept above 10 or below 170
+forbid {11 inf} for m2om whenall {m2y in {-inf 200} m2om in {10 11}}
+forbid {-inf 169} for m2om whenall {m2y in {-inf 200} m2om in {169 170}}
+
+# Protect long Cd tunnel
+forbid {-5.65 inf} for m2x when m2om in {170 182}
+forbid {55.43 inf} for m2x when m2om in {-2 10}

site_ansto/instrument/kookaburra/config/anticollider/anticollider.tcl

@@ -12,3 +12,24 @@ proc ::anticollider::enable {args} {
 }
 
 ::anticollider::loadscript acscript.txt
+
+# Default enable or disable anticollision for all axes
+# TODO: Provide a list of motors to enable or disable
+proc anticollider {args} {
+  set usage  "Usage: anticollider (enable | disable)"
+  if {$args == "enable"} {
+    # TODO change protect_detector to just 'protect'
+    ::anticollider::protect_detector "true"
+  } elseif {$args == "disable"} {
+    ::anticollider::protect_detector "false"
+  } elseif {$args == "help"} {
+    clientput $usage
+  } else {
+    if {[SplitReply [::anticollider::protect_detector]] == "false"} {
+      clientput "Anticollision disabled on all axes"
+    } else {
+      clientput "Anticollision enabled on all axes"
+    }
+  }
+}
+publish anticollider user

site_ansto/instrument/kookaburra/config/motors/motor_configuration.tcl

@@ -235,7 +235,7 @@ Motor m1chi $motor_driver_type [params \
   cntsPerX [expr 131072*100.0/68.681]\
   nopowersave 1]
 m1chi precision 0.001
-m1chi speed 0.200
+m1chi speed 0.137362
 m1chi part crystal
 m1chi long_name m1chi
 m1chi softlowerlim -2
@@ -435,7 +435,7 @@ Motor samz $motor_driver_type [params \
   stepsPerX [expr 25000.0 * 100 / 10.0]\
   cntsPerX 819.2\
   absEnc 1\
-  absEncHome 72607]
+  absEncHome 75330]
 samz part sample
 samz long_name samz
 samz softlowerlim 0
@@ -590,7 +590,7 @@ Motor m2chi $motor_driver_type [params \
   cntsPerX [expr 131072*100.0/68.681]\
   nopowersave 1]
 m2chi precision 0.001
-m2chi speed 0.200
+m2chi speed 0.137362
 m2chi part crystal
 m2chi long_name m2chi
 m2chi softlowerlim -2
@@ -610,7 +610,7 @@ Motor m2om $motor_driver_type [params \
   port pmc3-kookaburra\
   axis F\
   units degrees\
-  hardlowerlim 0\
+  hardlowerlim -2\
   hardupperlim 182\
   maxSpeed [expr 300000.0/$m2omSetRate]\
   maxAccel [expr 25000.0/$m2omSetRate]\
@@ -673,7 +673,7 @@ Motor m2y $motor_driver_type [params \
   axis H\
   units mm\
   hardlowerlim -4.35\
-  hardupperlim 357.9\
+  hardupperlim 400\
   maxSpeed [expr 100000.0/$m2ySetRate]\
   maxAccel [expr 25000.0/$m2ySetRate]\
   maxDecel [expr 25000.0/$m2ySetRate]\
@@ -685,7 +685,7 @@ m2y speed 0.5
 m2y part crystal
 m2y long_name m2y
 m2y softlowerlim -4.3
-m2y softupperlim 355
+m2y softupperlim 399
 m2y home 0
 
 

site_ansto/instrument/kookaburra/config/scan/scan.tcl

@@ -32,7 +32,7 @@ proc thresholdscan {minVoltage maxVoltage stepVoltage minBMThreshold manBMThresh
 
   clientput "Start scanning loop now"
   for {set vol $minVoltage} {$vol <= $maxVoltage} {incr vol $stepVoltage} {
-    emHV1 $vol
+#   emHV1 $vol
     set curCount ""
     for {set thres $minBMThreshold} {$thres <= $manBMThreshold} {incr thres $stepBMThreshold} {
       clientput "set thredshold to $thres"

site_ansto/instrument/kookaburra/kookaburra_configuration.tcl

@@ -45,6 +45,8 @@ fileeval $cfPath(environment)/temperature/sct_mercury_valve.tcl
 fileeval $cfPath(environment)/sct_protek_common.tcl
 fileeval $cfPath(environment)/sct_protekmm.tcl
 fileeval $cfPath(environment)/temperature/sct_julabo_lh45_gen.tcl
+fileeval $cfPath(environment)/sct_rheometer.tcl
+fileeval $cfPath(environment)/sct_antonparr_MCR500.tcl
 fileeval $cfPath(counter)/sct_bm.tcl
 fileeval $cfPath(hmm)/hmm_configuration.tcl
 fileeval $cfPath(nexus)/nxscripts.tcl
@@ -54,6 +56,7 @@ fileeval $cfPath(commands)/commands.tcl
 fileeval $cfPath(anticollider)/anticollider.tcl
 fileeval $cfPath(parameters)/parameters.tcl
 
+
 source gumxml.tcl
 
 ::utility::mkVar ::anticollider::protect_detector text manager protect_detector false detector true false