Change driveable motor names to GA GB GC
r3339 | ffr | 2012-01-13 13:59:20 +1100 (Fri, 13 Jan 2012) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
5386c36209
commit
1026dbb808
@@ -505,16 +505,16 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
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debug_log "setPt: tc_root=$tc_root sct=[sct] target=[sct target]"
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debug_log "setPt: tc_root=$tc_root sct=[sct] target=[sct target]"
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#sct print "setPt: tc_root=$tc_root sct=[sct] target=[sct target]"
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#sct print "setPt: tc_root=$tc_root sct=[sct] target=[sct target]"
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set channel [string toupper [basename [pathname [sct]]]]
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set channel [string toupper [basename [pathname [sct]]]]
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if { "$channel" == "A" } {
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if { "$channel" == "GA" } {
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hset $tc_root/Display/set_pos_A [sct target]
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hset $tc_root/Display/set_pos_GA [sct target]
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sct update [sct target]
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sct update [sct target]
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sct utime readtime
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sct utime readtime
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} elseif { "$channel" == "B" } {
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} elseif { "$channel" == "GB" } {
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hset $tc_root/Display/set_pos_B [sct target]
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hset $tc_root/Display/set_pos_GB [sct target]
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sct update [sct target]
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sct update [sct target]
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sct utime readtime
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sct utime readtime
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} elseif { "$channel" == "C" } {
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} elseif { "$channel" == "GC" } {
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hset $tc_root/Display/set_pos_C [sct target]
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hset $tc_root/Display/set_pos_GC [sct target]
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sct update [sct target]
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sct update [sct target]
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sct utime readtime
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sct utime readtime
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} else {
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} else {
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@@ -710,18 +710,18 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
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if { "$current_state" == 1 } {
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if { "$current_state" == 1 } {
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hsetprop $tc_root/device_state my_state "STATE_IDLE"
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hsetprop $tc_root/device_state my_state "STATE_IDLE"
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hset $tc_root/drive_state "IDLE"
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hset $tc_root/drive_state "IDLE"
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hset $tc_root/display/set_pos_A [hval $tc_root/display/act_pos_A]
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hset $tc_root/display/set_pos_GA [hval $tc_root/display/act_pos_GA]
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hset $tc_root/display/set_pos_B [hval $tc_root/display/act_pos_B]
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hset $tc_root/display/set_pos_GB [hval $tc_root/display/act_pos_GB]
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hset $tc_root/display/set_pos_C [hval $tc_root/display/act_pos_C]
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hset $tc_root/display/set_pos_GC [hval $tc_root/display/act_pos_GC]
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hsetprop $tc_root/A/Setpoint driving 0
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hsetprop $tc_root/GA/Setpoint driving 0
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hsetprop $tc_root/B/Setpoint driving 0
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hsetprop $tc_root/GB/Setpoint driving 0
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hsetprop $tc_root/C/Setpoint driving 0
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hsetprop $tc_root/GC/Setpoint driving 0
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}
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}
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set nextState "idle"
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set nextState "idle"
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} elseif {$my_state == "STATE_IDLE"} {
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} elseif {$my_state == "STATE_IDLE"} {
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set nextState "idle"
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set nextState "idle"
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if { "$current_state" == 1 } {
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if { "$current_state" == 1 } {
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if { [hgetpropval $tc_root/A/Setpoint driving] || [hgetpropval $tc_root/B/Setpoint driving] || [hgetpropval $tc_root/C/Setpoint driving] } {
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if { [hgetpropval $tc_root/GA/Setpoint driving] || [hgetpropval $tc_root/GB/Setpoint driving] || [hgetpropval $tc_root/GC/Setpoint driving] } {
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hset $tc_root/drive_state "DRIVING"
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hset $tc_root/drive_state "DRIVING"
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debug_log "drive_state: [sct] DRIVING"
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debug_log "drive_state: [sct] DRIVING"
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hset $tc_root/Display/visstart 1
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hset $tc_root/Display/visstart 1
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@@ -736,13 +736,13 @@ debug_log "chkWrite new data for $tc_root [sct] result=$data"
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if { "$current_state" == 6 } {
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if { "$current_state" == 6 } {
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# still moving
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# still moving
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} elseif { "$current_state" == 1 } {
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} elseif { "$current_state" == 1 } {
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if { [hval $tc_root/display/act_pos_A] == [hval $tc_root/display/set_pos_A] &&
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if { [hval $tc_root/display/act_pos_GA] == [hval $tc_root/display/set_pos_GA] &&
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[hval $tc_root/display/act_pos_B] == [hval $tc_root/display/set_pos_B] &&
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[hval $tc_root/display/act_pos_GB] == [hval $tc_root/display/set_pos_GB] &&
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[hval $tc_root/display/act_pos_C] == [hval $tc_root/display/set_pos_C] } {
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[hval $tc_root/display/act_pos_GC] == [hval $tc_root/display/set_pos_GC] } {
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hsetprop $tc_root/device_state my_state "STATE_IDLE"
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hsetprop $tc_root/device_state my_state "STATE_IDLE"
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hsetprop $tc_root/A/Setpoint driving 0
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hsetprop $tc_root/GA/Setpoint driving 0
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hsetprop $tc_root/B/Setpoint driving 0
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hsetprop $tc_root/GB/Setpoint driving 0
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hsetprop $tc_root/C/Setpoint driving 0
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hsetprop $tc_root/GC/Setpoint driving 0
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debug_log "drive_state: [sct] IDLE"
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debug_log "drive_state: [sct] IDLE"
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hset $tc_root/drive_state "IDLE"
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hset $tc_root/drive_state "IDLE"
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}
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}
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@@ -972,9 +972,9 @@ debug_log "Creating node $nodeName"
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hsetprop $scobj_hpath/$setNodeName checklimits ${ns}::$chkLimits $scobj_hpath
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hsetprop $scobj_hpath/$setNodeName checklimits ${ns}::$chkLimits $scobj_hpath
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hsetprop $scobj_hpath/$setNodeName checkstatus ${ns}::$chkStatus $scobj_hpath
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hsetprop $scobj_hpath/$setNodeName checkstatus ${ns}::$chkStatus $scobj_hpath
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hsetprop $scobj_hpath/$setNodeName halt ${ns}::$doHalt $scobj_hpath
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hsetprop $scobj_hpath/$setNodeName halt ${ns}::$doHalt $scobj_hpath
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::scobj::hinitprops $name/$axis [basename $setNodeName]
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::scobj::hinitprops $name $axis [basename $setNodeName]
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if {[SplitReply [environment_simulation]]=="false"} {
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if {[SplitReply [environment_simulation]]=="false"} {
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ansto_makesctdrive ${name}_${axis}_driveable $scobj_hpath/$setNodeName $scobj_hpath/$getNodeName $sct_controller
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ansto_makesctdrive $axis $scobj_hpath/$setNodeName $scobj_hpath/$getNodeName $sct_controller
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}
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}
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}
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}
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@@ -995,15 +995,15 @@ debug_log "Creating node $nodeName"
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Display on_auto 0 1 0 int user {on_auto} {rdValue} {on_auto} {wrValue} {}\
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Display on_auto 0 1 0 int user {on_auto} {rdValue} {on_auto} {wrValue} {}\
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Display on_program 0 0 0 int user {on_program} {rdValue} {} {} {}\
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Display on_program 0 0 0 int user {on_program} {rdValue} {} {} {}\
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Display on_cycleon 0 0 0 int user {on_cycleon} {rdValue} {} {} {}\
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Display on_cycleon 0 0 0 int user {on_cycleon} {rdValue} {} {} {}\
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Display act_pos_C 1 0 0 float user {act_pos_1} {rdAngle} {} {} {}\
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Display act_pos_GC 1 0 0 float user {act_pos_1} {rdAngle} {} {} {}\
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Display act_pos_B 1 0 0 float user {act_pos_2} {rdAngle} {} {} {}\
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Display act_pos_GB 1 0 0 float user {act_pos_2} {rdAngle} {} {} {}\
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Display act_pos_A 1 0 0 float user {act_pos_3} {rdAngle} {} {} {}\
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Display act_pos_GA 1 0 0 float user {act_pos_3} {rdAngle} {} {} {}\
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Display opmode 0 0 0 int user {opmode} {rdValue} {} {} {}\
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Display opmode 0 0 0 int user {opmode} {rdValue} {} {} {}\
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Display prognumber 1 0 0 int user {mainProgNumber} {rdValue} {} {} {}\
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Display prognumber 1 0 0 int user {mainProgNumber} {rdValue} {} {} {}\
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Display reset 1 1 0 int user {visin_ctrlR} {rdValue} {visin_ctrlR} {wrValue} {}\
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Display reset 1 1 0 int user {visin_ctrlR} {rdValue} {visin_ctrlR} {wrValue} {}\
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Display set_pos_A 1 1 0 float user {p101} {rdAngle} {p101} {wrAngle} {0:360}\
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Display set_pos_GA 1 1 0 float user {p101} {rdAngle} {p101} {wrAngle} {0:360}\
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Display set_pos_B 1 1 0 float user {p102} {rdAngle} {p102} {wrAngle} {-180:180}\
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Display set_pos_GB 1 1 0 float user {p102} {rdAngle} {p102} {wrAngle} {-180:180}\
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Display set_pos_C 1 1 0 float user {p103} {rdAngle} {p103} {wrAngle} {-180:180}\
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Display set_pos_GC 1 1 0 float user {p103} {rdAngle} {p103} {wrAngle} {-180:180}\
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Display feed_rate 1 1 0 int user {p104} {rdValue} {p104} {wrValue} {0:99999}\
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Display feed_rate 1 1 0 int user {p104} {rdValue} {p104} {wrValue} {0:99999}\
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Display dwell_time 1 1 0 int user {p105} {rdValue} {p105} {wrValue} {}\
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Display dwell_time 1 1 0 int user {p105} {rdValue} {p105} {wrValue} {}\
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Display visauto 1 1 0 int user {visauto} {rdValue} {visauto} {wrValue} {}\
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Display visauto 1 1 0 int user {visauto} {rdValue} {visauto} {wrValue} {}\
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@@ -1012,20 +1012,20 @@ debug_log "Creating node $nodeName"
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Display vise_stop 0 1 0 int user {vise_stop} {rdValue} {vise_stop} {wrValue} {}\
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Display vise_stop 0 1 0 int user {vise_stop} {rdValue} {vise_stop} {wrValue} {}\
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Display Value 1 0 0 int internal {mainProgNumber} {rdValue} {} {} {}\
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Display Value 1 0 0 int internal {mainProgNumber} {rdValue} {} {} {}\
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{} Setpoint 0 1 1 int user {} {} {} {setPoint} {}\
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{} Setpoint 0 1 1 int user {} {} {} {setPoint} {}\
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A Setpoint 0 1 1 float user {} {} {} {setPt} {-180:180}\
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GA Setpoint 0 1 1 float user {} {} {} {setPt} {-180:180}\
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A Value 1 0 0 float user {} {rdV.rdN} {} {} {}\
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GA Value 1 0 0 float user {} {rdV.rdN} {} {} {}\
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B Setpoint 0 1 1 float user {} {} {} {setPt} {-180:180}\
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GB Setpoint 0 1 1 float user {} {} {} {setPt} {-180:180}\
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B Value 1 0 0 float user {} {rdV.rdN} {} {} {}\
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GB Value 1 0 0 float user {} {rdV.rdN} {} {} {}\
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C Setpoint 0 1 1 float user {} {} {} {setPt} {-180:180}\
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GC Setpoint 0 1 1 float user {} {} {} {setPt} {-180:180}\
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C Value 1 0 0 float user {} {rdV.rdN} {} {} {}\
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GC Value 1 0 0 float user {} {rdV.rdN} {} {} {}\
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Display Tree 0 1 0 text user {} {} {} {wrTree} {}\
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Display Tree 0 1 0 text user {} {} {} {wrTree} {}\
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}
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}
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hfactory $scobj_hpath/Control plain spy none
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hfactory $scobj_hpath/Control plain spy none
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hfactory $scobj_hpath/Display plain spy none
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hfactory $scobj_hpath/Display plain spy none
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hfactory $scobj_hpath/A plain spy none
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hfactory $scobj_hpath/GA plain spy none
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hfactory $scobj_hpath/B plain spy none
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hfactory $scobj_hpath/GB plain spy none
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hfactory $scobj_hpath/C plain spy none
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hfactory $scobj_hpath/GC plain spy none
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foreach {cmdGroup varName readable writable drivable dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand {
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foreach {cmdGroup varName readable writable drivable dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand {
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createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
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createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
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@@ -1081,9 +1081,9 @@ debug_log "Creating node $nodeName"
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if {[SplitReply [environment_simulation]]=="false"} {
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if {[SplitReply [environment_simulation]]=="false"} {
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ansto_makesctdrive ${tempobj}_driveable $scobj_hpath/setpoint $scobj_hpath/display/value $sct_controller
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ansto_makesctdrive ${tempobj}_driveable $scobj_hpath/setpoint $scobj_hpath/display/value $sct_controller
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}
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}
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createDriveable ${tempobj} A $scobj_hpath A/Value A/Setpoint checklimits drivestatus halt $sct_controller
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createDriveable ${tempobj} GA $scobj_hpath GA/Value GA/Setpoint checklimits drivestatus halt $sct_controller
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createDriveable ${tempobj} B $scobj_hpath B/Value B/Setpoint checklimits drivestatus halt $sct_controller
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createDriveable ${tempobj} GB $scobj_hpath GB/Value GB/Setpoint checklimits drivestatus halt $sct_controller
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createDriveable ${tempobj} C $scobj_hpath C/Value C/Setpoint checklimits drivestatus halt $sct_controller
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createDriveable ${tempobj} GC $scobj_hpath GC/Value GC/Setpoint checklimits drivestatus halt $sct_controller
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} catch_message ]
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} catch_message ]
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if {$catch_status != 0} {
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if {$catch_status != 0} {
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