updated/added file to support galil contoller in Lyrebird - jgn

r3067 | jgn | 2011-02-24 09:12:56 +1100 (Thu, 24 Feb 2011) | 3 lines

site_ansto/instrument/lyrebird/config/motors/sct_flightTube.tcl

@@ -0,0 +1,102 @@
+# Author:
+
+
+##
+# @file Lyrebird Flight Tube Rotate controller
+namespace eval ::scobj::galil {
+  variable sim_mode
+}
+
+
+ ##
+ # @brief Send a command which returns a TPF value from Motor
+ # @param nextState, State which handles the reply
+ # @return The next state
+ proc ::scobj::galil::getTPF {} {
+   sct send "TPF"
+   return ackCmd
+ }
+
+ ##
+ # @brief Get a TPF value from Motor
+ # Convert TPF value to the Angle value which be displayed on Gumtree client.
+ proc ::scobj::galil::ackCmd {batpath} {
+   set tpfValue [sct result]
+   set tmp [expr {($tpfValue - 190161)*(-0.006696) + 25.77375473}]
+   broadcast "tpfValue = $tpfValue; tmp = $tmp"
+   hset $batpath/Angle $tmp
+   broadcast "Angle = [hget $batpath/Angle]"
+   return idle
+ }
+
+ ##
+ # @brief Read Angle value from Gumtree client and then send the command to the Motor
+ # @return The next state 
+ proc ::scobj::galil::getValue {nextState} {
+   set tmpAngle [sct target]
+   set comm "ANGLE=$tmpAngle"
+   sct send $comm
+   return $nextState
+}
+
+ ##
+ # @brief Get ACK from the Motor after sending an ANGLE command to the Motor
+ # @return IDLE 
+ proc ::scobj::galil::rdStatusFunc {} {
+    set ack [sct result]
+    if {$ack == -1} {
+      broadcast "Done: angle command set correctly!"
+    } elseif {
+      broadcast "Error $ack: Angle is not set correctly, check the error code $ack!"
+    }
+    return idle
+} 
+
+proc ::scobj::galil::mkGalil {argList} {
+
+  foreach {k v} $argList {
+    set KEY [string toupper $k]
+      set pa($KEY) $v
+  }
+
+  set NS ::scobj::$pa(NAME)
+  set internal $pa(INTERVAL) 
+  set batObjName $pa(NAME)
+
+  set batpath /sics/$batObjName
+
+  set sim_mode [SplitReply [motor_simulation]]
+  #set sim_mode "false"
+
+  puts "sim_mode=$sim_mode"
+
+  MakeSICSObj $batObjName SCT_OBJECT
+
+  # Set hipadaba properties for GumTree interface
+  # and NeXus data file.
+  #sicslist setatt $pa(NAME) klass instrument
+  #sicslist setatt $pa(NAME) long_name $pa(NAME)
+  hsetprop $batpath klass NXaperture
+  
+  hfactory /sics/$pa(NAME)/Angle plain user float
+  hfactory /sics/$pa(NAME)/setAngle plain user float 
+
+  makesctcontroller sct_ft galil $pa(IP):$pa(PORT)
+  #makesctcontroller sct_ft std $pa(IP):$pa(PORT)
+
+  # Get the TPF value from the Motor, then convert to current ANGLE position
+  hsetprop $batpath read ${NS}::getTPF
+  hsetprop $batpath ackCmd ${NS}::ackCmd $batpath
+  
+  # Read the ANGLE value from the Gumtree client, then send  roate command to Motor and get ACK from Motor.
+  hsetprop $batpath write ${NS}::getValue rdStatus
+  hsetprop $batpath rdStatus ${NS}::rdStatusFunc
+
+  ::scobj::hinitprops $batObjName setAngle Angle
+
+  puts "batpath : $batpath"
+  sct_ft poll $batpath $internal 
+  sct_ft write $batpath
+
+}
+

site_ansto/instrument/lyrebird/config/motors/spin_galil.tcl

@@ -0,0 +1,11 @@
+fileeval $cfPath(motors)/sct_flightTube.tcl
+
+::scobj::galil::mkGalil {
+  name "galil"
+  #IP 137.157.204.25
+  IP localhost
+  PORT 1034
+  tuning 1
+  interval 1
+}
+

site_ansto/instrument/lyrebird/lyrebird_configuration.tcl

@@ -18,7 +18,7 @@ fileeval $cfPath(source)/source.tcl
 source $cfPath(hipadaba)/hipadaba_configuration.tcl
 
 fileeval $cfPath(motors)/motor_configuration.tcl
-fileeval $cfPath(motors)/sct_flightTube.tcl
+fileeval $cfPath(motors)/spin_galil.tcl
 
 fileeval $cfPath(motors)/positmotor_configuration.tcl
 #fileeval $cfPath(velsel)/velsel.tcl