From 27f09f5a0a1cba73b49f9f11804e4dcff9647f05 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Fri, 9 Aug 2013 05:24:29 +1000
Subject: [PATCH] SICS-655 Update tasmots when driving axes. SICS-512
 Experimental anticollider for m2, s2 and a2

---
 .../instrument/tas/taipan_configuration.tcl   | 77 +++++++++++++------
 1 file changed, 54 insertions(+), 23 deletions(-)

diff --git a/site_ansto/instrument/tas/taipan_configuration.tcl b/site_ansto/instrument/tas/taipan_configuration.tcl
index 0277ba23..141a032b 100644
--- a/site_ansto/instrument/tas/taipan_configuration.tcl
+++ b/site_ansto/instrument/tas/taipan_configuration.tcl
@@ -33,7 +33,8 @@ fileeval $cfPath(scan)/scan.tcl
 fileeval $cfPath(commands)/commands.tcl
 fileeval $cfPath(commands)/pulser.tcl
 fileeval $cfPath(commands)/hvcommands.tcl
-fileeval $cfPath(anticollider)/anticollider.tcl
+namespace eval anticollider { proc ::anticollider::init {} {} }
+#fileeval $cfPath(anticollider)/anticollider.tcl
 #fileeval $cfPath(tasmad)/taspub_sics/tasp.tcl
 #fileeval $cfPath(tasmad)/taspub_sics/tasscript.tcl
 fileeval $cfPath(environment)/temperature/sct_eurotherm_2000.tcl
@@ -71,32 +72,62 @@ server_init
 # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
 
 # Provide tasmot notifications to GumTree when real motors move
-hchain /sample/ei /instrument/crystal/m2
-hchain /sample/en /instrument/crystal/m2
-hchain /sample/ki /instrument/crystal/m2
-hchain /sample/qh /instrument/crystal/m2
-hchain /sample/qk /instrument/crystal/m2
-hchain /sample/ql /instrument/crystal/m2
-hchain /sample/qm /instrument/crystal/m2
+proc m2tasupdate {} {
+  tasub update
+  hupdate /sample/ei
+  hupdate /sample/en
+  hupdate /sample/ki
+  hupdate /sample/qh
+  hupdate /sample/qk
+  hupdate /sample/ql
+  hupdate /sample/qm
+}
+publish m2tasupdate user
 
-hchain /sample/qh /sample/s1
-hchain /sample/qk /sample/s1
-hchain /sample/ql /sample/s1
-hchain /sample/qm /sample/s1
+proc s1s2tasupdate {} {
+  tasub update
+  hupdate /sample/qh
+  hupdate /sample/qk
+  hupdate /sample/ql
+  hupdate /sample/qm
+}
+publish s1s2tasupdate user
 
-hchain /sample/qh /sample/s2
-hchain /sample/qk /sample/s2
-hchain /sample/ql /sample/s2
-hchain /sample/qm /sample/s2
+proc a2tasupdate {} {
+  tasub update
+  hupdate /sample/ef
+  hupdate /sample/en
+  hupdate /sample/kf
+  hupdate /sample/qh
+  hupdate /sample/qk
+  hupdate /sample/ql
+  hupdate /sample/qm
+}
+publish a2tasupdate user
 
-hchain /sample/ef /instrument/detector/a2
-hchain /sample/en /instrument/detector/a2
-hchain /sample/kf /instrument/detector/a2
-hchain /sample/qh /instrument/detector/a2
-hchain /sample/qk /instrument/detector/a2
-hchain /sample/ql /instrument/detector/a2
-hchain /sample/qm /instrument/detector/a2
+scriptcallback connect m2 MOTEND m2tasupdate
+scriptcallback connect s1 MOTEND s1s2tasupdate
+scriptcallback connect s2 MOTEND s1s2tasupdate
+scriptcallback connect a2 MOTEND a2tasupdate
 
+set MY_INSTRUMENT_IS_BROKEN_AND_I_DIDNT_FIXIT false
+if {$MY_INSTRUMENT_IS_BROKEN_AND_I_DIDNT_FIXIT} {
+  AntiCollisionInstall
+  anticollision register m2
+  anticollision register s2
+  anticollision register a2
+  array set tasacscript_levels {m2 0 s2 1 a2 2}
+  proc tasacscript {args} {
+    anticollision clear
+    array set targets $args
+    foreach {mot target} $args {
+      anticollision add $::tasacscript_levels($mot) $mot $targets($mot)
+    }
+    return
+  }
+  publish tasacscript user
+  anticollision script tasacscript
+}
 # fix all motors 
 if {0} {
     foreach m [sicslist type motor] {