First pass driver for the Knauer BlueShadow Pump 40P
This commit is contained in:
Douglas Clowes
286
site_ansto/instrument/config/environment/knauer_pump.sct
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286
site_ansto/instrument/config/environment/knauer_pump.sct
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#
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# Template driver for the Knauer BlueShadow Pump 40P
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# vim: ts=8 sts=2 sw=2 expandtab autoindent smartindent nocindent
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#
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driver knauer_pump = {
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debug_threshold = 0;
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vendor = knauer; device = pump40p; protocol = knauer_ap;
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class = environment;
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simulation_group = environment_simulation
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#
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group dummy = {
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type = text; readable = 1; data = false; control = false; nxsave = false;
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var status = { read_command = 'STATUS?'; read_function = read_status; }
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var glp = { read_command = 'GLP?'; read_function = read_glp; }
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}
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group volume = {
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type = float;
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property 'units' = 'mL';
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var sensor = {
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readable = 1;
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read_command = ' ';
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fetch_function = volume_fetch;
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#checkrange_function = volume_reject;
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}
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var setpoint = {
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writeable = 1;
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write_command = ' ';
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write_function = volume_write;
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driveable = volume/sensor;
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checkstatus_function = volume_checkstatus;
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halt_function = volume_halt;
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lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
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readable = 1;
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read_command = ' ';
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fetch_function = volume_checkpumping;
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}
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}
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group ratios = {
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type = text;
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property 'units' = 'percent';
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var sensor = {
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readable = 1; read_command = ' '; fetch_function = ratios_fetch;
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}
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var setpoint = {
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writeable = 1; write_command = ' '; write_function = ratios_write; checkrange_function = ratios_check;
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}
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}
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group flow = {
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type = float;
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property 'units' = 'mL/min';
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var sensor = {
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readable = 1; read_command = ' '; fetch_function = flow_fetch;
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}
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var setpoint = {
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writeable = 1; write_command = ' '; write_function = flow_write;
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lowerlimit = 0; upperlimit = 10;
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}
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}
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group stuff = {
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readable = 60;
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type = text;
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var an_out = { read_command = 'AN_OUT?'; }
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var boardinfo = { read_command = 'BOARDINFO?'; }
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var config = { read_command = 'CONFIG?'; }
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var cprofinfo = { read_command = 'CPROFINFO?'; }
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var dout = { read_command = 'DOUT?'; }
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var error = { read_command = 'ERROR?'; }
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var errors = { read_command = 'ERRORS?'; }
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var flushpmp = { read_command = 'FLUSHPMP?'; }
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var head = { read_command = 'HEAD?'; }
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var head_par = { read_command = 'HEAD_PAR?'; }
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var identify = { read_command = 'IDENTIFY?'; }
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var lpg = { read_command = 'LPG?'; }
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var oem = { read_command = 'OEM?'; }
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var opt = { read_command = 'OPT?'; }
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var plim = { read_command = 'PLIM?'; }
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var pressure = { read_command = 'PRESSURE?'; }
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var prfastacq = { read_command = 'PRFASTACQ?'; }
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var purge = { read_command = 'PURGE?'; }
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var remote = { read_command = 'REMOTE?'; }
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var rfid = { read_command = 'RFID?'; }
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var service = { read_command = 'SERVICE?'; }
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var sysinfo = { read_command = 'SYSINFO?'; }
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var 'units' = { read_command = 'UNITS?'; }
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var valves = { read_command = 'VALVES?'; }
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}
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group prog = {
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readable = 30;
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type = text;
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var line_01 = { read_command = "TT_GET:1,1"; }
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var line_02 = { read_command = "TT_GET:1,2"; }
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var line_03 = { read_command = "TT_GET:1,3"; }
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var line_04 = { read_command = "TT_GET:1,4"; }
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var line_05 = { read_command = "TT_GET:1,5"; }
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}
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group glp = {
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type = text;
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readable = 1;
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fetch_function = fetch_from_glp;
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var board_time = { read_command = '0'; }
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var motor_time = { read_command = '1'; }
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var head_count = { read_command = '3'; }
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var head_time = { read_command = '4'; }
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var head_volm = { read_command = '5'; }
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var head_voln = { read_command = '6'; }
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var head_pwrhi = { read_command = '7'; }
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var head_pwrlo = { read_command = '8'; }
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var pump_revs = { read_command = '9'; }
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var pump_volm = { read_command = '10'; }
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var pump_voln = { read_command = '11'; }
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var pump_pwrhi = { read_command = '12'; }
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var pump_pwrlo = { read_command = '13'; }
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}
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group status = {
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type = text;
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readable = 1;
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fetch_function = fetch_from_status;
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var state = { read_command = '1'; }
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var cur_error = { read_command = '2'; }
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var cur_run_time = { read_command = '3'; }
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var flow_rate = { read_command = '4'; }
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var lpg_0 = { read_command = '5'; }
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var lpg_1 = { read_command = '6'; }
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var lpg_2 = { read_command = '7'; }
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var lpg_3 = { read_command = '8'; }
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var evt_0 = { read_command = '9'; }
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var evt_1 = { read_command = '10'; }
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var evt_2 = { read_command = '11'; }
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var evt_3 = { read_command = '12'; }
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var evt_4 = { read_command = '13'; }
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var evt_5 = { read_command = '14'; }
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var evt_6 = { read_command = '15'; }
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var evt_7 = { read_command = '16'; }
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var cur_pres = { read_command = '17'; }
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var start_in = { read_command = '18'; }
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var error_in = { read_command = '19'; }
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}
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code fetch_from_glp = {%%
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set index ${cmd_str}
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set data [hgetpropval ${tc_root}/dummy/glp real_data]
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set dlist [split ${data} ","]
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sct result [lindex ${dlist} ${index}]
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set cmd "@@NOSEND@@"
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%%}
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code fetch_from_status = {%%
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set index ${cmd_str}
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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sct result [lindex ${dlist} ${index}]
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set cmd "@@NOSEND@@"
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%%}
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code read_glp = {%%
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set dlist [split [lindex [split ${data} ":"] 1] ","]
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sct real_data "[join [lrange ${dlist} 0 end] ,]"
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set data "Hidden in real_data property"
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%%}
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code read_status = {%%
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set dlist [split [lindex [split ${data} ":"] 1] ","]
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sct real_data "[join [lrange ${dlist} 0 end] ,]"
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set data "Hidden in real_data property"
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%%}
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code halt = {%%
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set ratios [hval ${tc_root}/ratios/setpoint]
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set ratios [join [split ${ratios} /] ,]
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set cmd "RAMP:0,0,${ratios},0,0,0,0,0,0,0,0,2"
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%%}
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code flow_fetch = {%%
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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set flow [lindex ${dlist} 4]
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sct result [expr {0.001 * ${flow}}]
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set cmd "@@NOSEND@@"
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%%}
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code flow_write = {%%
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set data [sct target]
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set cmd "@@NOSEND@@"
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set nextState idle
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if { ${data} != [sct oldval] } {
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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}
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%%}
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code ratios_check = {%%
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set ratios [split ${setpoint} /]
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if { [llength ${ratios}] != 4 } {
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sct geterror "${setpoint} has [llength ${ratios}] components, needs 4"
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error [sct geterror]
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}
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set sum [expr [lindex ${ratios} 0] + [lindex ${ratios} 1] + [lindex ${ratios} 2] + [lindex ${ratios} 3]]
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if { ${sum} != 100 } {
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sct geterror "sum is ${sum}, must be 100"
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error [sct geterror]
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}
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%%}
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code ratios_fetch = {%%
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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set ratios "[lindex ${dlist} 5]/[lindex ${dlist} 6]/[lindex ${dlist} 7]/[lindex ${dlist} 8]"
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sct result ${ratios}
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set cmd "@@NOSEND@@"
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%%}
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code ratios_write = {%%
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set data [sct target]
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set cmd "@@NOSEND@@"
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set nextState idle
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if { ${data} != [sct oldval] } {
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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}
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%%}
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code volume_fetch = {%%
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set data [hgetpropval ${tc_root}/dummy/glp real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > 11 } {
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set pump_volm [lindex ${dlist} 10]
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set pump_voln [lindex ${dlist} 11]
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set volume [expr {${pump_volm} + 0.000001 * ${pump_voln}}]
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} else {
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set volume 0.0
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}
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sct raw_volume ${volume}
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if { [hpropexists [sct] base_volume] } {
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set volume [expr {${volume} - [sct base_volume]}]
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} else {
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sct base_volume [sct raw_volume]
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}
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sct result ${volume}
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set cmd "@@NOSEND@@"
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%%}
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code volume_write = {%%
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hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
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hset ${tc_root}/[sct driveable] 0.0
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set flow [expr {int(1000.0 * [hval ${tc_root}/flow/setpoint])}]
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set ratios [hval ${tc_root}/ratios/setpoint]
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set ratios [join [split ${ratios} /] ,]
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set cmd "RAMP:0,${flow},${ratios},0,0,0,0,0,0,0,0,3"
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sct pumping 1
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%%}
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code volume_checkpumping = {%%
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set cmd "@@NOSEND@@"
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set nextState idle
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if { [hpropexists [sct] pumping] && [sct pumping] } {
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if { [hpropexists [sct] driving] && [sct driving] } {
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volume_checkstatus "${tc_root}"
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}
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set sp "[sct target]"
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set pv "[hval ${tc_root}/[sct driveable]]"
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if { (${sp} - ${pv}) <= [sct tolerance] } {
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set flow 0
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set ratios [hval ${tc_root}/ratios/setpoint]
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set ratios [join [split ${ratios} /] ,]
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set cmd "RAMP:0,${flow},${ratios},0,0,0,0,0,0,0,0,2"
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set nextState noResponse
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sct pumping 0
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}
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}
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%%}
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code volume_halt = {%%
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set flow 0
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set ratios [hval ${tc_root}/ratios/setpoint]
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set ratios [join [split ${ratios} /] ,]
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set cmd "RAMP:0,${flow},${ratios},0,0,0,0,0,0,0,0,2"
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sct send ${cmd}
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%%}
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code volume_reject = {%%
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sct geterror "cannot use hset on [sct]"
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error "[sct geterror]"
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%%}
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}
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