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New generated SCT drivers for knauer, sr630 and epson robot wrapper

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This commit is contained in:
Douglas Clowes
2014-11-06 13:40:06 +11:00
parent 0b2f3d520b
commit 2076c0a5fc
3 changed files with 3222 additions and 0 deletions
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2557
site_ansto/instrument/config/environment/knauer_pump_sct.tcl Normal file
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site_ansto/instrument/config/environment/temperature/srs_sr630_sct.tcl Normal file
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# Generated driver for srs_sr630
# vim: ft=tcl tabstop=8 softtabstop=2 shiftwidth=2 nocindent smartindent
#
namespace eval ::scobj::srs_sr630 {
set debug_threshold 5
}
proc ::scobj::srs_sr630::debug_log {tc_root debug_level debug_string} {
set catch_status [ catch {
set debug_threshold [hgetpropval ${tc_root} debug_threshold]
if {${debug_level} >= ${debug_threshold}} {
set fd [open "../log/srs_sr630_[basename ${tc_root}].log" "a"]
set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
puts ${fd} "${line}"
close ${fd}
}
} catch_message ]
}
proc ::scobj::srs_sr630::sics_log {debug_level debug_string} {
set catch_status [ catch {
set debug_threshold ${::scobj::srs_sr630::debug_threshold}
if {${debug_level} >= ${debug_threshold}} {
sicslog "::scobj::srs_sr630::${debug_string}"
}
} catch_message ]
}
# check function for hset change
proc ::scobj::srs_sr630::checkrange {tc_root} {
set catch_status [ catch {
debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
set setpoint [sct target]
if { [hpropexists [sct] lowerlimit] } {
set lolimit [sct lowerlimit]
} else {
# lowerlimit not set, use target
set lolimit [sct target]
}
if { [hpropexists [sct] upperlimit] } {
set hilimit [sct upperlimit]
} else {
# upperlimit not set, use target
set hilimit [sct target]
}
# checkrange hook code goes here
if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
}
return OK
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to request the read of a parameter on a device
proc ::scobj::srs_sr630::fetch_id {tc_root nextState cmd_str} {
set catch_status [ catch {
debug_log ${tc_root} 1 "fetch_id tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set cmd "${cmd_str}"
# fetch_id hook code starts
if {[hval [sct]] == "UNKNOWN"} {
set cmd "[clock format [clock seconds] -format "DATE %m,%d,%Y;TIME %H,%M,%S;*IDN?"]"
} else {
set cmd "*IDN?"
}
# fetch_id hook code ends
if { [hpropexists [sct] geterror] } {
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
error "[sct geterror]"
}
debug_log ${tc_root} 1 "fetch_id sct send ${cmd}"
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
sct send "${cmd}"
}
return ${nextState}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to request the read of a parameter on a device
proc ::scobj::srs_sr630::getSensor {tc_root nextState cmd_str} {
set catch_status [ catch {
debug_log ${tc_root} 1 "getSensor tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set cmd "${cmd_str}"
# getSensor hook code starts
set cmd "UNIT ${cmd_str},ABS;MEAS? ${cmd_str}"
# getSensor hook code ends
if { [hpropexists [sct] geterror] } {
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
error "[sct geterror]"
}
debug_log ${tc_root} 1 "getSensor sct send ${cmd}"
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
sct send "${cmd}"
}
return ${nextState}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to check the write parameter on a device
proc ::scobj::srs_sr630::noResponse {tc_root} {
set catch_status [ catch {
debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
# noResponse hook code goes here
return "idle"
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to parse the read of a parameter on a device
proc ::scobj::srs_sr630::readSensor {tc_root} {
set catch_status [ catch {
debug_log ${tc_root} 1 "readSensor tc_root=${tc_root} sct=[sct] result=[sct result]"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set data [sct result]
set nextState "idle"
if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
# the protocol driver has reported an error
sct geterror "${data}"
error "[sct geterror]"
}
# readSensor hook code goes here
if { ${data} != [sct oldval] } {
debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
sct oldval ${data}
sct update ${data}
sct utime readtime
}
return ${nextState}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to parse the read of a parameter on a device
proc ::scobj::srs_sr630::read_id {tc_root} {
set catch_status [ catch {
debug_log ${tc_root} 1 "read_id tc_root=${tc_root} sct=[sct] result=[sct result]"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set data [sct result]
set nextState "idle"
if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
# the protocol driver has reported an error
sct geterror "${data}"
error "[sct geterror]"
}
# read_id hook code goes here
if { ${data} != [sct oldval] } {
debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
sct oldval ${data}
sct update ${data}
sct utime readtime
}
return ${nextState}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to write a parameter value on a device
proc ::scobj::srs_sr630::setValue {tc_root nextState cmd_str} {
set catch_status [ catch {
debug_log ${tc_root} 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set par [sct target]
set cmd "${cmd_str}${par}"
# setValue hook code goes here
if { [hpropexists [sct] driving] } {
if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
sct driving 1
}
}
debug_log ${tc_root} 1 "setValue sct send ${cmd}"
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
sct send "${cmd}"
}
return ${nextState}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
proc ::scobj::srs_sr630::mkDriver { sct_controller name device_class simulation_flag ip_address tcp_port } {
::scobj::srs_sr630::sics_log 9 "::scobj::srs_sr630::mkDriver ${sct_controller} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
set ns "[namespace current]"
set catch_status [ catch {
MakeSICSObj ${name} SCT_OBJECT
sicslist setatt ${name} klass ${device_class}
sicslist setatt ${name} long_name ${name}
set scobj_hpath /sics/${name}
# Start of unnamed group
# Start of var: id
hfactory ${scobj_hpath}/id plain user text
hsetprop ${scobj_hpath}/id read ${ns}::fetch_id ${scobj_hpath} read_id {@}
hsetprop ${scobj_hpath}/id read_id ${ns}::read_id ${scobj_hpath}
hsetprop ${scobj_hpath}/id control true
hsetprop ${scobj_hpath}/id data true
hsetprop ${scobj_hpath}/id mutable true
hsetprop ${scobj_hpath}/id nxsave true
hsetprop ${scobj_hpath}/id oldval UNKNOWN
hset ${scobj_hpath}/id UNKNOWN
hsetprop ${scobj_hpath}/id klass "parameter"
hsetprop ${scobj_hpath}/id sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/id type "part"
hsetprop ${scobj_hpath}/id nxalias "${name}_id"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/id 600
hsetprop ${scobj_hpath}/id simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/id simulated true
}
# Start of var: sensor_01
hfactory ${scobj_hpath}/sensor_01 plain user float
hsetprop ${scobj_hpath}/sensor_01 read ${ns}::getSensor ${scobj_hpath} readSensor {1}
hsetprop ${scobj_hpath}/sensor_01 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_01 control true
hsetprop ${scobj_hpath}/sensor_01 data true
hsetprop ${scobj_hpath}/sensor_01 mutable true
hsetprop ${scobj_hpath}/sensor_01 nxsave true
hsetprop ${scobj_hpath}/sensor_01 oldval 0.0
hsetprop ${scobj_hpath}/sensor_01 klass "parameter"
hsetprop ${scobj_hpath}/sensor_01 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_01 type "part"
hsetprop ${scobj_hpath}/sensor_01 nxalias "${name}_sensor_01"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_01 60
hsetprop ${scobj_hpath}/sensor_01 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_01 simulated true
}
# Start of var: sensor_02
hfactory ${scobj_hpath}/sensor_02 plain user float
hsetprop ${scobj_hpath}/sensor_02 read ${ns}::getSensor ${scobj_hpath} readSensor {2}
hsetprop ${scobj_hpath}/sensor_02 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_02 control true
hsetprop ${scobj_hpath}/sensor_02 data true
hsetprop ${scobj_hpath}/sensor_02 mutable true
hsetprop ${scobj_hpath}/sensor_02 nxsave true
hsetprop ${scobj_hpath}/sensor_02 oldval 0.0
hsetprop ${scobj_hpath}/sensor_02 klass "parameter"
hsetprop ${scobj_hpath}/sensor_02 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_02 type "part"
hsetprop ${scobj_hpath}/sensor_02 nxalias "${name}_sensor_02"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_02 600
hsetprop ${scobj_hpath}/sensor_02 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_02 simulated true
}
# Start of var: sensor_03
hfactory ${scobj_hpath}/sensor_03 plain user float
hsetprop ${scobj_hpath}/sensor_03 read ${ns}::getSensor ${scobj_hpath} readSensor {3}
hsetprop ${scobj_hpath}/sensor_03 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_03 control true
hsetprop ${scobj_hpath}/sensor_03 data true
hsetprop ${scobj_hpath}/sensor_03 mutable true
hsetprop ${scobj_hpath}/sensor_03 nxsave true
hsetprop ${scobj_hpath}/sensor_03 oldval 0.0
hsetprop ${scobj_hpath}/sensor_03 klass "parameter"
hsetprop ${scobj_hpath}/sensor_03 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_03 type "part"
hsetprop ${scobj_hpath}/sensor_03 nxalias "${name}_sensor_03"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_03 600
hsetprop ${scobj_hpath}/sensor_03 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_03 simulated true
}
# Start of var: sensor_04
hfactory ${scobj_hpath}/sensor_04 plain user float
hsetprop ${scobj_hpath}/sensor_04 read ${ns}::getSensor ${scobj_hpath} readSensor {4}
hsetprop ${scobj_hpath}/sensor_04 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_04 control true
hsetprop ${scobj_hpath}/sensor_04 data true
hsetprop ${scobj_hpath}/sensor_04 mutable true
hsetprop ${scobj_hpath}/sensor_04 nxsave true
hsetprop ${scobj_hpath}/sensor_04 oldval 0.0
hsetprop ${scobj_hpath}/sensor_04 klass "parameter"
hsetprop ${scobj_hpath}/sensor_04 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_04 type "part"
hsetprop ${scobj_hpath}/sensor_04 nxalias "${name}_sensor_04"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_04 600
hsetprop ${scobj_hpath}/sensor_04 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_04 simulated true
}
# Start of var: sensor_05
hfactory ${scobj_hpath}/sensor_05 plain user float
hsetprop ${scobj_hpath}/sensor_05 read ${ns}::getSensor ${scobj_hpath} readSensor {5}
hsetprop ${scobj_hpath}/sensor_05 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_05 control true
hsetprop ${scobj_hpath}/sensor_05 data true
hsetprop ${scobj_hpath}/sensor_05 mutable true
hsetprop ${scobj_hpath}/sensor_05 nxsave true
hsetprop ${scobj_hpath}/sensor_05 oldval 0.0
hsetprop ${scobj_hpath}/sensor_05 klass "parameter"
hsetprop ${scobj_hpath}/sensor_05 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_05 type "part"
hsetprop ${scobj_hpath}/sensor_05 nxalias "${name}_sensor_05"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_05 600
hsetprop ${scobj_hpath}/sensor_05 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_05 simulated true
}
# Start of var: sensor_06
hfactory ${scobj_hpath}/sensor_06 plain user float
hsetprop ${scobj_hpath}/sensor_06 read ${ns}::getSensor ${scobj_hpath} readSensor {6}
hsetprop ${scobj_hpath}/sensor_06 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_06 control true
hsetprop ${scobj_hpath}/sensor_06 data true
hsetprop ${scobj_hpath}/sensor_06 mutable true
hsetprop ${scobj_hpath}/sensor_06 nxsave true
hsetprop ${scobj_hpath}/sensor_06 oldval 0.0
hsetprop ${scobj_hpath}/sensor_06 klass "parameter"
hsetprop ${scobj_hpath}/sensor_06 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_06 type "part"
hsetprop ${scobj_hpath}/sensor_06 nxalias "${name}_sensor_06"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_06 600
hsetprop ${scobj_hpath}/sensor_06 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_06 simulated true
}
# Start of var: sensor_07
hfactory ${scobj_hpath}/sensor_07 plain user float
hsetprop ${scobj_hpath}/sensor_07 read ${ns}::getSensor ${scobj_hpath} readSensor {7}
hsetprop ${scobj_hpath}/sensor_07 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_07 control true
hsetprop ${scobj_hpath}/sensor_07 data true
hsetprop ${scobj_hpath}/sensor_07 mutable true
hsetprop ${scobj_hpath}/sensor_07 nxsave true
hsetprop ${scobj_hpath}/sensor_07 oldval 0.0
hsetprop ${scobj_hpath}/sensor_07 klass "parameter"
hsetprop ${scobj_hpath}/sensor_07 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_07 type "part"
hsetprop ${scobj_hpath}/sensor_07 nxalias "${name}_sensor_07"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_07 600
hsetprop ${scobj_hpath}/sensor_07 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_07 simulated true
}
# Start of var: sensor_08
hfactory ${scobj_hpath}/sensor_08 plain user float
hsetprop ${scobj_hpath}/sensor_08 read ${ns}::getSensor ${scobj_hpath} readSensor {8}
hsetprop ${scobj_hpath}/sensor_08 readSensor ${ns}::readSensor ${scobj_hpath}
hsetprop ${scobj_hpath}/sensor_08 control true
hsetprop ${scobj_hpath}/sensor_08 data true
hsetprop ${scobj_hpath}/sensor_08 mutable true
hsetprop ${scobj_hpath}/sensor_08 nxsave true
hsetprop ${scobj_hpath}/sensor_08 oldval 0.0
hsetprop ${scobj_hpath}/sensor_08 klass "parameter"
hsetprop ${scobj_hpath}/sensor_08 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/sensor_08 type "part"
hsetprop ${scobj_hpath}/sensor_08 nxalias "${name}_sensor_08"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/sensor_08 600
hsetprop ${scobj_hpath}/sensor_08 simulated false
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for srs_sr630"
hsetprop ${scobj_hpath}/sensor_08 simulated true
}
hsetprop ${scobj_hpath} data "true"
hsetprop ${scobj_hpath} klass "@none"
hsetprop ${scobj_hpath} type "part"
# End of unnamed group
hsetprop ${scobj_hpath} klass ${device_class}
hsetprop ${scobj_hpath} data true
hsetprop ${scobj_hpath} debug_threshold 5
# mkDriver hook code goes here
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
proc ::scobj::srs_sr630::add_driver {name device_class simulation_flag ip_address tcp_port} {
set catch_status [ catch {
::scobj::srs_sr630::sics_log 9 "::scobj::srs_sr630::add_driver ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
if {[string equal -nocase "${simulation_flag}" "false"]} {
if {[string equal -nocase "aqadapter" "${ip_address}"]} {
::scobj::srs_sr630::sics_log 9 "makesctcontroller sct_${name} aqadapter ${tcp_port}"
makesctcontroller sct_${name} aqadapter ${tcp_port}
} else {
::scobj::srs_sr630::sics_log 9 "makesctcontroller sct_${name} std ${ip_address}:${tcp_port}"
makesctcontroller sct_${name} std ${ip_address}:${tcp_port}
}
} else {
::scobj::srs_sr630::sics_log 9 "simulation_flag=${simulation_flag} => Null sctcontroller for srs_sr630"
::scobj::srs_sr630::sics_log 9 "makesctcontroller sct_${name} aqadapter NULL"
makesctcontroller sct_${name} aqadapter NULL
}
::scobj::srs_sr630::sics_log 1 "::scobj::srs_sr630::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
::scobj::srs_sr630::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
namespace eval ::scobj::srs_sr630 {
namespace export debug_threshold
namespace export debug_log
namespace export sics_log
namespace export mkDriver
namespace export add_driver
}
proc add_srs_sr630 {name ip_address tcp_port} {
set simulation_flag "[string tolower [SplitReply [detector_simulation]]]"
::scobj::srs_sr630::add_driver ${name} "NXdetector" ${simulation_flag} ${ip_address} ${tcp_port}
}
clientput "file evaluation of sct_srs_sr630.tcl"
::scobj::srs_sr630::sics_log 9 "file evaluation of sct_srs_sr630.tcl"
proc ::scobj::srs_sr630::read_config {} {
set catch_status [ catch {
set ns "::scobj::srs_sr630"
dict for {k u} $::config_dict {
if { [dict exists $u "implementation"] } {
set simulation_flag "[string tolower [SplitReply [detector_simulation]]]"
set device_class "NXdetector"
if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
continue
}
set enabled [string tolower [dict get $u "enabled"]]
if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
continue
}
if { [dict exists $u "simulation_group"] } {
set simulation_flag [SplitReply [[string tolower [dict get $u "simulation_group"]]]]
}
if { [dict exists $u "device_class"] } {
set device_class "[dict get $u "device_class"]"
}
set name [dict get $u name]
set implementation [dict get $u "implementation"]
if { !([dict exists $::config_dict $implementation]) } {
continue
}
set v [dict get $::config_dict $implementation]
if { !([dict exists $v "driver"]) } {
continue
}
if { [string equal -nocase [dict get $v "driver"] "srs_sr630"] } {
if { ![string equal -nocase "${simulation_flag}" "false"] } {
set asyncqueue "null"
${ns}::sics_log 9 "simulation_flag=${simulation_flag} => using null asyncqueue"
${ns}::sics_log 9 "makesctcontroller sct_${name} aqadapter NULL"
makesctcontroller sct_${name} aqadapter NULL
} elseif { [dict exists $v "asyncqueue"] } {
set asyncqueue [dict get $v "asyncqueue"]
if { [string equal -nocase ${asyncqueue} "sct"] } {
set ip_address [dict get $v ip]
set tcp_port [dict get $v port]
makesctcontroller sct_${name} std ${ip_address}:${tcp_port}
} else {
makesctcontroller sct_${name} aqadapter ${asyncqueue}
}
} else {
if { [dict exists $v "asyncprotocol"] } {
set asyncprotocol [dict get $v "asyncprotocol"]
} else {
set asyncprotocol ${name}_protocol
MakeAsyncProtocol ${asyncprotocol}
if { [dict exists $v "sendterminator"] } {
${asyncprotocol} sendterminator "[dict get $v "sendterminator"]"
} elseif { [dict exists $v "terminator"] } {
${asyncprotocol} sendterminator "[dict get $v "terminator"]"
}
if { [dict exists $v "replyterminator"] } {
${asyncprotocol} replyterminator "[dict get $v "replyterminator"]"
} elseif { [dict exists $v "terminator"] } {
${asyncprotocol} replyterminator "[dict get $v "terminator"]"
}
}
set asyncqueue ${name}_queue
set ip_address [dict get $v ip]
set tcp_port [dict get $v port]
MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${ip_address} ${tcp_port}
if { [dict exists $v "timeout"] } {
${asyncqueue} timeout "[dict get $v "timeout"]"
}
makesctcontroller sct_${name} aqadapter ${asyncqueue}
}
${ns}::mkDriver sct_${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}
}
}
}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
if { [info exists ::config_dict] } {
::scobj::srs_sr630::read_config
} else {
::scobj::srs_sr630::sics_log 5 "No config dict"
}

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site_ansto/instrument/config/robots/epson_pandp_sct.tcl Normal file
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@ -0,0 +1,127 @@
# Generated driver for epson_pandp
# vim: ft=tcl tabstop=8 softtabstop=2 shiftwidth=2 nocindent smartindent
#
namespace eval ::scobj::epson_pandp {
set debug_threshold 5
}
proc ::scobj::epson_pandp::debug_log {tc_root debug_level debug_string} {
set catch_status [ catch {
set debug_threshold [hgetpropval ${tc_root} debug_threshold]
if {${debug_level} >= ${debug_threshold}} {
set fd [open "../log/epson_pandp_[basename ${tc_root}].log" "a"]
set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
puts ${fd} "${line}"
close ${fd}
}
} catch_message ]
}
proc ::scobj::epson_pandp::sics_log {debug_level debug_string} {
set catch_status [ catch {
set debug_threshold ${::scobj::epson_pandp::debug_threshold}
if {${debug_level} >= ${debug_threshold}} {
sicslog "::scobj::epson_pandp::${debug_string}"
}
} catch_message ]
}
proc ::scobj::epson_pandp::mkDriver { sct_controller name device_class simulation_flag ip_address tcp_port robot_name } {
::scobj::epson_pandp::sics_log 9 "::scobj::epson_pandp::mkDriver ${sct_controller} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${robot_name}"
set ns "[namespace current]"
set catch_status [ catch {
# mkWrapper hook code starts
clientput "add_robot ${robot_name} ${ip_address} ${tcp_port}"
add_robot ${robot_name} ${ip_address} ${tcp_port}
# mkWrapper hook code ends
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
proc ::scobj::epson_pandp::add_driver {name device_class simulation_flag ip_address tcp_port robot_name} {
set catch_status [ catch {
::scobj::epson_pandp::sics_log 9 "::scobj::epson_pandp::add_driver ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${robot_name}"
::scobj::epson_pandp::sics_log 9 "No sctcontroller for epson_pandp"
::scobj::epson_pandp::sics_log 1 "::scobj::epson_pandp::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${robot_name}"
::scobj::epson_pandp::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${robot_name}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
namespace eval ::scobj::epson_pandp {
namespace export debug_threshold
namespace export debug_log
namespace export sics_log
namespace export mkDriver
namespace export add_driver
}
proc add_epson_pandp {name ip_address tcp_port robot_name} {
set simulation_flag "[string tolower [SplitReply [environment_simulation]]]"
::scobj::epson_pandp::add_driver ${name} "environment" ${simulation_flag} ${ip_address} ${tcp_port} ${robot_name}
}
clientput "file evaluation of sct_epson_pandp.tcl"
::scobj::epson_pandp::sics_log 9 "file evaluation of sct_epson_pandp.tcl"
proc ::scobj::epson_pandp::read_config {} {
set catch_status [ catch {
set ns "::scobj::epson_pandp"
dict for {k u} $::config_dict {
if { [dict exists $u "implementation"] } {
set simulation_flag "[string tolower [SplitReply [environment_simulation]]]"
set device_class "environment"
if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
continue
}
set enabled [string tolower [dict get $u "enabled"]]
if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
continue
}
if { [dict exists $u "simulation_group"] } {
set simulation_flag [SplitReply [[string tolower [dict get $u "simulation_group"]]]]
}
if { [dict exists $u "device_class"] } {
set device_class "[dict get $u "device_class"]"
}
set name [dict get $u name]
set implementation [dict get $u "implementation"]
if { !([dict exists $::config_dict $implementation]) } {
continue
}
set v [dict get $::config_dict $implementation]
if { !([dict exists $v "driver"]) } {
continue
}
if { [string equal -nocase [dict get $v "driver"] "epson_pandp"] } {
::scobj::epson_pandp::sics_log 9 "No sctcontroller for epson_pandp"
set arg_list [list]
set missing_list [list]
foreach arg {robot_name} {
if {[dict exists $u $arg]} {
lappend arg_list "[dict get $u $arg]"
} elseif {[dict exists $v $arg]} {
lappend arg_list "[dict get $v $arg]"
} else {
${ns}::sics_log 9 "Missing configuration value $arg"
lappend missing_list $arg
}
}
if { [llength $missing_list] > 0 } {
error "$name is missing configuration values $missing_list"
}
${ns}::mkDriver sct_${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} {*}$arg_list
}
}
}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
if { [info exists ::config_dict] } {
::scobj::epson_pandp::read_config
} else {
::scobj::epson_pandp::sics_log 5 "No config dict"
}