Merged 2.4 branch
r2828 | ffr | 2009-11-25 09:56:49 +1100 (Wed, 25 Nov 2009) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
c58ee9fbcb
commit
2ec6505ef8
@@ -6,6 +6,7 @@ config/hipadaba/hipadaba_configuration_common.tcl
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config/hipadaba/common_instrument_dictionary.tcl
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config/hipadaba/instdict_specification.tcl
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config/hmm/hmm_configuration_common_1.tcl
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config/hmm/hmm_object.tcl
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config/hmm/anstohm_linked.xml
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config/scan/scan_common_1.hdd
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config/scan/scan_common_1.tcl
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@@ -13,4 +14,6 @@ config/nexus/nxscripts_common_1.tcl
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config/commands/commands_common.tcl
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config/motors/sct_positmotor_common.tcl
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config/environment/temperature/sct_julabo_lh45.tcl
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config/environment/temperature/config/lakeshore340_common.tcl
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config/environment/temperature/lakeshore340_common.tcl
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config/environment/temperature/sct_lakeshore_3xx.tcl
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config/motors/sct_jogmotor_common.tcl
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@@ -15,20 +15,22 @@ proc ::histogram_memory::init_OAT_TABLE {} {
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OAT_TABLE -set X { 191.5 190.5 } NXC 192 Y { -0.5 0.5 } NYC 192 T { 0 20000 } NTC 1
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} message ] {
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if {$::errorCode=="NONE"} {return $message}
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return -code error $message
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}
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}
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proc ::histogram_memory::pre_count {} {}
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proc ::histogram_memory::post_count {} {}
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proc ::histogram_memory::isc_initialize {} {
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# Instrument specific X and Y dimension names
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variable INST_NXC "oat_nxc_eff"
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variable INST_NYC "oat_nyc_eff"
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if [ catch {
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::histogram_memory::init_hmm_objs
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if {$::sim_mode == "true"} {
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hmm configure oat_ntc_eff 1
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hmm configure oat_nyc_eff 127
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hmm configure oat_nxc_eff 127
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hmm configure $INST_NYC 127
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hmm configure $INST_NXC 127
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}
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BAT_TABLE -init
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CAT_TABLE -init
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@@ -52,7 +54,6 @@ proc ::histogram_memory::isc_initialize {} {
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::nexus::data alias ::histogram_memory::vertical_axis ::histogram_memory::y_pixel_offset
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::nexus::data alias ::histogram_memory::horizontal_axis ::histogram_memory::x_pixel_offset
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} message ] {
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if {$::errorCode=="NONE"} {return $message}
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return -code error $message
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}
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}
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@@ -1,5 +1,5 @@
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# $Revision: 1.27 $
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# $Date: 2009-03-30 23:16:53 $
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# $Revision: 1.28 $
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# $Date: 2009-11-24 22:56:48 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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@@ -73,11 +73,14 @@ set att_Home 24782942
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set bsx_Home 7831707
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set bsz_Home 10143000
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set bs5_Home 0
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set bs4_Home 0
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set bs3_Home 0
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set bs2_Home 0
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set bs1_Home 0
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set bs1_Home 19027
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set bs2_Home 5721
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set bs3_Home 15844
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set bs4_Home 23089
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set bs5_Home 2293
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set bs6_Home 12597
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set bs_cntsPerX [expr 32768.0/360.0]
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set bs_stepsPerX [expr -25000.0*160.0/360.0]
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set pol_Home 7500000
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# early Guide mesaurements
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@@ -389,7 +392,7 @@ det precision 1
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det softlowerlim 350
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det softupperlim 19330
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det home 350.5
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det speed 20
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det speed 40
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det Blockage_Fail 0
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# Detector translation across beam [-50,450] mm
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@@ -681,11 +684,11 @@ Motor pc10 $motor_driver_type [params \
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absEncHome $pc10_Home\
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cntsPerX $coll_CntsPerX\
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posit_count 5]
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pc10 posit_1 [expr $pc10_Empty + 81920]
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pc10 posit_1 26197033
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pc10 posit_2 [expr $pc10_Empty]
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pc10 posit_3 [expr $pc10_Guide]
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pc10 posit_4 [expr $pc10_Aperture]
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pc10 posit_5 [expr $pc10_Aperture - 81920]
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pc10 posit_5 25730100
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pc10 part collimator
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pc10 long_name pc10
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setHomeandRange -motor pc10 -home 0 -lowrange 190 -uprange 190
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@@ -829,8 +832,8 @@ Motor bsx $motor_driver_type [params \
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units mm\
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hardlowerlim -200\
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hardupperlim 200\
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maxSpeed 1\
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maxAccel 1\
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maxSpeed 5\
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maxAccel 2\
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maxDecel 5\
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stepsPerX [expr -(25000.0*7.0)/5.0/1.02]\
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absEnc 1\
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@@ -840,6 +843,7 @@ bsx part detector
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bsx long_name bsx
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bsx softlowerlim -200
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bsx softupperlim 200
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bsx speed 5
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bsx home 0
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# beam stop vertical [-240,100] mm
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@@ -864,38 +868,148 @@ bsz softlowerlim -240
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bsz softupperlim 80
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bsz home 0
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if {1} {
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# largest to smallest
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# MakeActionObject obj aQ JG-speed upsw downsw axis
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MakeActionObject bs1 mc4 [expr $bs125sign*$bs_steps_per_rev*$bs1gear/360.0] 8 4 C
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MakeActionObject bs2 mc4 [expr $bs125sign*$bs_steps_per_rev*$bs2gear/360.0] 8 4 D
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MakeActionObject bs3 mc4 [expr $bs34sign*$bs_steps_per_rev*$bs3gear/360.0] 4 8 E
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MakeActionObject bs4 mc4 [expr $bs34sign*$bs_steps_per_rev*$bs4gear/360.0] 4 8 F
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MakeActionObject bs5 mc4 [expr $bs125sign*$bs_steps_per_rev*$bs5gear/360.0] 8 4 G
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}
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# Polarizer Rotation
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Motor pol $motor_driver_type [params \
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# Largest beamstop
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Motor bs1 $motor_driver_type [params \
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asyncqueue mc4\
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axis C\
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units degrees\
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hardlowerlim 0\
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hardupperlim 90\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $bs_stepsPerX\
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absEnc 1\
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absEncHome $bs1_Home\
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cntsPerX $bs_cntsPerX]
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bs1 part detector
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bs1 long_name bs1
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bs1 softlowerlim 0
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bs1 softupperlim 90
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bs1 home 0
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sicslist setatt bs1 link parameters_group
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Motor bs2 $motor_driver_type [params \
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asyncqueue mc4\
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axis D\
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units degrees\
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hardlowerlim 0\
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hardupperlim 90\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $bs_stepsPerX\
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absEnc 1\
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absEncHome $bs2_Home\
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cntsPerX $bs_cntsPerX]
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bs2 part detector
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bs2 long_name bs2
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bs2 softlowerlim 0
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bs2 softupperlim 90
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bs2 home 0
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sicslist setatt bs2 link parameters_group
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Motor bs3 $motor_driver_type [params \
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asyncqueue mc4\
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axis E\
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units degrees\
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hardlowerlim 0\
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hardupperlim 90\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $bs_stepsPerX\
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absEnc 1\
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absEncHome $bs3_Home\
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cntsPerX $bs_cntsPerX]
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bs3 part detector
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bs3 long_name bs3
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bs3 softlowerlim 0
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bs3 softupperlim 90
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bs3 home 0
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sicslist setatt bs3 link parameters_group
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Motor bs4 $motor_driver_type [params \
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asyncqueue mc4\
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axis F\
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units degrees\
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hardlowerlim 0\
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hardupperlim 90\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $bs_stepsPerX\
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absEnc 1\
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absEncHome $bs4_Home\
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cntsPerX $bs_cntsPerX]
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bs4 part detector
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bs4 long_name bs4
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bs4 softlowerlim 0
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bs4 softupperlim 90
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bs4 home 0
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sicslist setatt bs4 link parameters_group
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Motor bs5 $motor_driver_type [params \
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asyncqueue mc4\
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axis G\
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units degrees\
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hardlowerlim 0\
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hardupperlim 90\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 1\
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stepsPerX $bs_stepsPerX\
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absEnc 1\
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absEncHome $bs5_Home\
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cntsPerX $bs_cntsPerX]
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bs5 part detector
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bs5 long_name bs5
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bs5 softlowerlim 0
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bs5 softupperlim 90
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bs5 home 0
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sicslist setatt bs5 link parameters_group
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Motor bs6 $motor_driver_type [params \
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asyncqueue mc4\
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host mc4-quokka\
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port pmc4-quokka\
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axis H\
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units degrees\
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hardlowerlim 0\
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hardupperlim 3\
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hardupperlim 90\
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maxSpeed 1\
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maxAccel 1\
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maxDecel 5\
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stepsPerX 25000\
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maxDecel 1\
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stepsPerX $bs_stepsPerX\
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absEnc 1\
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absEncHome $pol_Home\
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cntsPerX 8192]
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pol part detector
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pol long_name pol
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pol softlowerlim 0
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pol softupperlim 3
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pol home 0
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absEncHome $bs6_Home\
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cntsPerX $bs_cntsPerX]
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bs6 part detector
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bs6 long_name bs6
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bs6 softlowerlim 0
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bs6 softupperlim 90
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bs6 home 0
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sicslist setatt bs6 link parameters_group
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# Polarizer Rotation
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#Motor pol $motor_driver_type [params \
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# asyncqueue mc4\
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# host mc4-quokka\
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# port pmc4-quokka\
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# axis H\
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# units degrees\
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# hardlowerlim 0\
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# hardupperlim 3\
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# maxSpeed 1\
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# maxAccel 1\
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# maxDecel 5\
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# stepsPerX 25000\
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# absEnc 1\
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# absEncHome $pol_Home\
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# cntsPerX 8192]
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#pol part detector
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#pol long_name pol
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#pol softlowerlim 0
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#pol softupperlim 3
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#pol home 0
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proc motor_set_sobj_attributes {} {
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}
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@@ -37,7 +37,7 @@ index position
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mk_sct_positmotor sct_mc1 parameter samx changer_position samplenum 20SAMPLES $20sample_table
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set auto_ap_table {
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thickness_mm position
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diameter position
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2.5 0
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5.0 -23
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7.5 -47
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@@ -1,5 +1,6 @@
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source $cfPath(nexus)/nxscripts_common_1.tcl
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proc ::nexus::isc_initialize {} {
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if {0} {
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variable histmem_filetype_spec
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foreach spec [array names histmem_filetype_spec] {
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lappend histmem_filetype_spec($spec) link {aux_data 3 LambdaA}
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@@ -7,5 +8,6 @@ proc ::nexus::isc_initialize {} {
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lappend histmem_filetype_spec($spec) link {aux_data 5 ::histogram_memory::x_bin}
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lappend histmem_filetype_spec($spec) link {aux_data 6 ::histogram_memory::y_bin}
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}
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}
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::nexus::ic_initialize
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}
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@@ -2,7 +2,6 @@
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# @brief We can't change the coordinate scheme at runtime because this would require
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# restructuring the hdb tree, but we should save it.
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foreach {var lname nxname} {
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VelSelCoordScheme VelSelCoordScheme coordinate_scheme
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SApCoordScheme SApCoordScheme coordinate_scheme
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EApCoordScheme EApCoordScheme coordinate_scheme
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SampleCoordScheme SampleCoordScheme coordinate_scheme
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@@ -18,11 +17,13 @@ foreach {var lname nxname} {
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##
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# @brief User privilege text variables
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#
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foreach {var lname type nxname priv units klass} {
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SApShape SApShape text shape user none parameter
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BSShape BSShape text shape user none parameter
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SampleThickness thickness float thickness user mm sample
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TransmissionFlag transmission_flag int transmission user none sample
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foreach {var lname type priv units klass} {
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SApShape SApShape text user none parameter
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BSShape BSShape text user none parameter
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SampleThickness thickness float user mm sample
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TransmissionFlag transmission_flag int user none sample
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magnetic_field magnetic_field float user T sample
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lambda lambda float user Ao data
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} {
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::utility::mkVar $var $type $priv $lname true $klass true true
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if {$units != "none"} {
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@@ -34,9 +35,6 @@ foreach {var lname type nxname priv units klass} {
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# @brief The velocity selector position is used as the reference for other instrument
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# component positions. For simplicity we set it as the origin x=y=z=0.
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foreach {var lname nxname units klass} {
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VelSelPosXmm VelSelPosXmm x mm @none
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VelSelPosYmm VelSelPosYmm y mm @none
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VelSelPosZmm VelSelPosZmm z mm @none
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EndFacePosYmm EndFacePosYmm y mm parameter
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RotApPosYmm RotApPosYmm y mm @none
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} {
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@@ -222,22 +220,11 @@ foreach {pname motor units} {
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${pname}_status "IDLE"
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}
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################################################################################
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##
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# @brief This is the position of the velocity selector bunker face. It is used
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# as the reference for other positions. x=y=z=0.
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#::hdb::MakeVelocity_Selector velocity_selector {
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# wavelength LambdaA
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# wavelength_spread LambdaResFWHM_percent
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# coordinate_scheme VelSelCoordScheme
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# position {VelSelPosXmm VelSelPosYmm VelSelPosZmm}
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#}
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::hdb::MakeAperture sample_aperture {
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shape SApShape
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size {SApXmm SApZmm}
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coordinate_scheme SApCoordScheme
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position {SApPosXmm SApPosYmm SApPosZmm}
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refpos {VelSelPosXmm EndFacePosYmm VelSelPosZmm}
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}
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::hdb::MakeAperture entrance_aperture {
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@@ -245,7 +232,6 @@ foreach {pname motor units} {
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size {EApXmm EApYmm EApZmm}
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coordinate_scheme EApCoordScheme
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position EApPosYmm
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refpos VelSelPosYmm
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}
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::hdb::MakeAperture rotary_aperture {
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@@ -253,27 +239,23 @@ foreach {pname motor units} {
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size {RotApXmm RotApZmm}
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position RotApPosYmm
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orientation RotApDeg
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refpos VelSelPosYmm
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}
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#::hdb::MakeGeometry sample_geometry sample {
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# coordinate_scheme SampleCoordScheme
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# position {SamplePosXmm SamplePosYmm SamplePosZmm}
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# orientation {SampleTiltXDeg SampleTiltYDeg SampleRotDeg}
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# refpos {VelSelPosXmm EndFacePosYmm VelSelPosZmm}
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#}
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::hdb::MakeGeometry detector_geometry detector {
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coordinate_scheme DetCoordScheme
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position {DetPosXmm DetPosYmm}
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offset DetPosYOffsetmm
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refpos {VelSelPosXmm EndFacePosYmm}
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}
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::hdb::MakeGeometry collimator_geometry collimator {
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coordinate_scheme CollCoordScheme
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position EndFacePosYmm
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refpos VelSelPosYmm
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}
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::hdb::MakeGeometry beamstop_geometry beam_stop {
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@@ -298,9 +280,6 @@ array set collapposmm {
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ap9 19925
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}
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VelSelPosXmm 0.0
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VelSelPosYmm 0.0
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||||
VelSelPosZmm 0.0
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EndFacePosYmm 20095
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RotApPosYmm 675
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@@ -399,17 +378,3 @@ proc check {args} {
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}
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publish check user
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foreach {pname bsname} {
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beamstop110 bs1
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||||
beamstop88 bs2
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beamstop66 bs3
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beamstop44 bs4
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beamstop22 bs5
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} {
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::utility::macro::getset text $pname {} [subst -nocommands {
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return [$bsname status]
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}]
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sicslist setatt $pname long_name $pname
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sicslist setatt $pname mutable false
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sicslist setatt $pname klass derived_parameter
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}
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@@ -1,31 +1,96 @@
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# TODO Check if requested tilt-angle is within range
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##
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# @file
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# The velocity selector control is split into two objects,
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# 1. velsel_poller: This object polls the velocity selector to get its
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# current state.
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# 2. velsel: This object provides manages a set of status nodes which
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# current state. The first time that it gets valid state info it will
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# register the read and write parameters for the velocity_selector object
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# and create nvs_speed and nvs_lambda drivable adapters.
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# 2. velocity_selector: This object manages a set of status nodes which
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# correspond to the state parameters read by the velsel_poller object.
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# It also provides commands to set the speed and angle for the velocity
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# selector.
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# It also provides commands to set the speed, wavelength and angle for the velocity
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# selector and provides drivable interfaces for the speed and wavelength.
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#
|
||||
# You can drive the velocity selector speed via the driveable object called nvs_speed
|
||||
# You can drive the wavelength via the driveable object called nvs_lambda
|
||||
|
||||
# NOTE Doesn't provide the power loss command. Do we need it?
|
||||
|
||||
# Test by adding the following to barebones.tcl
|
||||
# InstallHdb
|
||||
# source config/velsel/sct_velsel.tcl
|
||||
# hfactory /velsel link velsel
|
||||
# source config/velocity_selector/xsct_velsel.tcl
|
||||
# hfactory /velocity_selector link velocity_selector
|
||||
|
||||
# The velocity selector doesn't close client connections
|
||||
# if the connection is broken. It only closes the connection
|
||||
# when a client logs off with "#SES#bye", NOTE bye must be lowercase.
|
||||
|
||||
makesctcontroller sct_velsel astvelsel 137.157.202.73:10000 "" 10
|
||||
sct_velsel transact "NVS"
|
||||
sct_velsel transact "NVS"
|
||||
|
||||
namespace eval ::scobj::velsel {
|
||||
namespace eval ::scobj::velocity_selector {
|
||||
variable UID
|
||||
variable PWD
|
||||
variable sim_mode
|
||||
variable paramindex
|
||||
variable paramtype
|
||||
variable pollrate
|
||||
set pollrate 7
|
||||
variable pollrate 7
|
||||
|
||||
#from NVSOptions.cpp nha
|
||||
# m_dTwistAngle degrees
|
||||
# m_dTwistAngle m
|
||||
# m_iMaxSpeed rpm
|
||||
variable m_dTwistAngle
|
||||
variable m_dLength
|
||||
variable m_iMaxSpeed
|
||||
variable rBeamCenter
|
||||
variable VNeutron
|
||||
variable blocked_speeds
|
||||
|
||||
set sim_mode [SplitReply [velsel_simulation]]
|
||||
|
||||
proc AngleSpeedToWavelength {angle VsVarSpeed} {
|
||||
variable m_dTwistAngle
|
||||
variable m_dLength
|
||||
variable m_iMaxSpeed
|
||||
variable rBeamCenter
|
||||
variable VNeutron
|
||||
|
||||
if {$VsVarSpeed < 3100} {
|
||||
return -code error "Minimum speed is 3100 rpm"
|
||||
}
|
||||
|
||||
set lambda0 [expr ($m_dTwistAngle*60.0*$VNeutron)/(360.0*$m_dLength*$m_iMaxSpeed)]
|
||||
set pi [expr acos(-1)]
|
||||
# set pi = 3.14159265358979;
|
||||
|
||||
set A [expr (2.0 * $rBeamCenter * $pi) / (60.0 * $VNeutron)]
|
||||
set angle_rad [expr ($angle * $pi) / 180.0]
|
||||
set lambda1 [expr ( tan($angle_rad)+($A * $m_iMaxSpeed * $lambda0) ) / ((-($A*$A) * $m_iMaxSpeed * $VsVarSpeed * $lambda0 * tan($angle_rad) )+($A * $VsVarSpeed))]
|
||||
|
||||
return [format "%#.5g" $lambda1]
|
||||
}
|
||||
|
||||
proc WavelengthToSpeed {angle lambda1} {
|
||||
variable m_dTwistAngle
|
||||
variable m_dLength
|
||||
variable m_iMaxSpeed
|
||||
variable rBeamCenter
|
||||
variable VNeutron
|
||||
|
||||
if {$lambda1 < 4.6125} {
|
||||
return -code error "Minimum wavelength is 4.6125 Angstrom"
|
||||
}
|
||||
|
||||
set lambda0 [expr ($m_dTwistAngle*60.0*$VNeutron)/(360.0*$m_dLength*$m_iMaxSpeed)]
|
||||
set pi [expr acos(-1)]
|
||||
# set pi = 3.14159265358979;
|
||||
|
||||
set A [expr (2.0 * $rBeamCenter * $pi) / (60.0 * $VNeutron)]
|
||||
set angle_rad [expr ($angle * $pi) / 180.0]
|
||||
set VsVarSpeed [expr ( tan($angle_rad)+($A * $m_iMaxSpeed * $lambda0) ) / ((-($A*$A) * $m_iMaxSpeed * $lambda1 * $lambda0 * tan($angle_rad) )+($A * $lambda1))]
|
||||
|
||||
return [expr round($VsVarSpeed)]
|
||||
}
|
||||
|
||||
|
||||
array set paramindex {
|
||||
state 0
|
||||
@@ -66,27 +131,98 @@ namespace eval ::scobj::velsel {
|
||||
bcuun float
|
||||
}
|
||||
MakeSICSObj velsel_poller SCT_OBJECT
|
||||
MakeSICSObj velsel SCT_OBJECT
|
||||
sicslist setatt velsel klass NXvelocity_selector
|
||||
sicslist setatt velsel long_name velsel
|
||||
MakeSICSObj velocity_selector SCT_OBJECT
|
||||
sicslist setatt velocity_selector klass NXvelocity_selector
|
||||
sicslist setatt velocity_selector long_name velocity_selector
|
||||
|
||||
proc sendUID {user} {
|
||||
sct send $user
|
||||
return rdPwdChallenge
|
||||
}
|
||||
|
||||
proc rdPwdChallenge {} {
|
||||
set challenge [sct result]
|
||||
return sndPwd
|
||||
}
|
||||
proc sndPwd {pwd} {
|
||||
sct send $pwd
|
||||
return rdPwdAck
|
||||
}
|
||||
proc rdPwdAck {} {
|
||||
set ack [sct result]
|
||||
return idle
|
||||
}
|
||||
##
|
||||
# @brief Request a state report from the velocity selector
|
||||
proc getStatus {} {
|
||||
sct send "#SOS#STATE "
|
||||
return rdStatus
|
||||
return rdState
|
||||
}
|
||||
|
||||
##
|
||||
# @brief Read the current state report from the velocity selector.
|
||||
proc rdStatus {} {
|
||||
set data [sct result]
|
||||
if {$data != [sct oldval]} {
|
||||
sct oldval $data
|
||||
set status [lrange [split $data "#"] 3 end-1]
|
||||
proc rdState {root statuspath} {
|
||||
variable paramindex
|
||||
|
||||
set staterep [sct result]
|
||||
if {[string match {ASCERR:*} $staterep]} {
|
||||
hset $root/device_error $staterep
|
||||
return idle
|
||||
}
|
||||
if {[string match {*#SES#You are not a valid user*} $staterep]} {
|
||||
return sendUID
|
||||
}
|
||||
if {[string match {#SOS#*} $staterep] == 0 } {
|
||||
hset $root/device_error $staterep
|
||||
return idle
|
||||
}
|
||||
set status [lrange [split $staterep "#"] 3 end-1]
|
||||
set rspeed [lindex $status $paramindex(rspeed) end]
|
||||
set aspeed [lindex $status $paramindex(aspeed) end]
|
||||
set speedvar [expr 0.2*$rspeed/100]
|
||||
if {[hval $root/status] == "busy"} {
|
||||
set target [hgetpropval $root/setspeed target]
|
||||
if {$rspeed != $target} {
|
||||
hset $root/device_error "Resending target speed $target"
|
||||
hset $root/setspeed $target"
|
||||
return idle
|
||||
}
|
||||
if {[expr abs($rspeed - $aspeed)] <= $speedvar} {
|
||||
hset $root/status "idle"
|
||||
statemon stop nvs_speed
|
||||
statemon stop nvs_lambda
|
||||
if [hgetpropval $root/setspeed driving] {
|
||||
hsetprop $root/setspeed driving 0
|
||||
hsetprop $root/setLambdaA driving 0
|
||||
}
|
||||
}
|
||||
}
|
||||
if {$staterep != [sct oldval]} {
|
||||
set state [lindex $status $paramindex(state) end]
|
||||
if {$state != [sct oldstate]} {
|
||||
if {[string match {*CONTROL*} $state] && [expr abs($rspeed - $aspeed)] > $speedvar} {
|
||||
# hset $root/status "busy"
|
||||
} elseif {[string match {*CONTROL*} $state]==0 && $aspeed == 0} {
|
||||
hset $root/status "idle"
|
||||
statemon stop nvs_speed
|
||||
statemon stop nvs_lambda
|
||||
if [hgetpropval $root/setspeed driving] {
|
||||
hsetprop $root/setspeed driving 0
|
||||
hsetprop $root/setLambdaA driving 0
|
||||
}
|
||||
}
|
||||
sct oldstate $state
|
||||
}
|
||||
if {[sct oldval] == "UNKNOWN"} {
|
||||
sct_velsel_init $root
|
||||
}
|
||||
sct oldval $staterep
|
||||
sct update $status
|
||||
sct utime readtime
|
||||
}
|
||||
if {[hval $root/device_error] != ""} {
|
||||
hset $root/device_error ""
|
||||
}
|
||||
return idle
|
||||
}
|
||||
|
||||
@@ -116,13 +252,27 @@ namespace eval ::scobj::velsel {
|
||||
return idle
|
||||
}
|
||||
|
||||
proc setSpeed {nextState} {
|
||||
proc setSpeed {vs_root statuspath nextState} {
|
||||
variable paramindex
|
||||
set speed [format "%5d" [sct target]]
|
||||
|
||||
sct send "#SOS#SPEED $speed"
|
||||
set angle [lindex [hval $statuspath] $paramindex(ttang) end]
|
||||
set lambda [AngleSpeedToWavelength $angle $speed]
|
||||
sct target $speed
|
||||
hsetprop $vs_root/setLambdaA target $lambda
|
||||
hset $vs_root/status "busy"
|
||||
statemon start nvs_speed
|
||||
statemon start nvs_lambda
|
||||
if {[sct writestatus] == "start"} {
|
||||
# Called by drive adapter
|
||||
hsetprop $vs_root/setspeed driving 1
|
||||
hsetprop $vs_root/setLambdaA driving 1
|
||||
}
|
||||
return $nextState
|
||||
}
|
||||
|
||||
proc setState {nextState} {
|
||||
proc sendCommand {nextState} {
|
||||
set state [string tolower [sct target]]
|
||||
switch $state {
|
||||
"idle" {
|
||||
@@ -131,61 +281,327 @@ namespace eval ::scobj::velsel {
|
||||
"brake" {
|
||||
sct send "#SOS#BRAKE "
|
||||
}
|
||||
"init" {
|
||||
sct send "#SOS#TTINIT"
|
||||
}
|
||||
default {
|
||||
return idle
|
||||
return idle
|
||||
}
|
||||
}
|
||||
return $nextState
|
||||
}
|
||||
|
||||
|
||||
hfactory /sics/velsel_poller/status plain internal text
|
||||
hsetprop /sics/velsel_poller/status read ::scobj::velsel::getStatus
|
||||
hsetprop /sics/velsel_poller/status rdStatus ::scobj::velsel::rdStatus
|
||||
hsetprop /sics/velsel_poller/status oldval UNKNOWN
|
||||
proc readLambda {statuspath} {
|
||||
variable paramindex
|
||||
|
||||
sct_velsel poll /sics/velsel_poller/status $pollrate halt read
|
||||
hfactory /sics/velsel/LambdaA plain user float
|
||||
hfactory /sics/velsel/LambdaResFWHM_percent plain user float
|
||||
|
||||
foreach par [lsort [array names paramindex]] {
|
||||
hfactory /sics/velsel/$par plain spy $paramtype($par)
|
||||
hsetprop /sics/velsel/$par read ::scobj::velsel::getpar rdpar
|
||||
hsetprop /sics/velsel/$par rdpar ::scobj::velsel::updatepar /sics/velsel_poller/status $paramindex($par)
|
||||
hsetprop /sics/velsel/$par oldval UNKNOWN
|
||||
sct_velsel poll /sics/velsel/$par $pollrate
|
||||
set angle [lindex [hval $statuspath] $paramindex(ttang) end]
|
||||
set aspeed [lindex [hval $statuspath] $paramindex(aspeed) end]
|
||||
set lambda [AngleSpeedToWavelength $angle $aspeed]
|
||||
if {$lambda != [sct oldval]} {
|
||||
sct oldval $lambda
|
||||
sct update $lambda
|
||||
sct utime readtime
|
||||
}
|
||||
return idle
|
||||
}
|
||||
|
||||
hfactory /sics/velsel/setspeed plain spy $paramtype($par)
|
||||
hsetprop /sics/velsel/setspeed write ::scobj::velsel::setSpeed ignore
|
||||
hsetprop /sics/velsel/setspeed ignore ::scobj::velsel::noResponse
|
||||
sct_velsel write /sics/velsel/setspeed
|
||||
##
|
||||
# @brief This will check if turntable operation is allowed
|
||||
proc ttableCheck {statuspath nextState} {
|
||||
variable paramindex
|
||||
|
||||
hfactory /sics/velsel/setstate plain spy $paramtype($par)
|
||||
hsetprop /sics/velsel/setstate write ::scobj::velsel::setState ignore
|
||||
hsetprop /sics/velsel/setstate ignore ::scobj::velsel::noResponse
|
||||
sct_velsel write /sics/velsel/setstate
|
||||
set state [lindex [hval $statuspath] $paramindex(state) end]
|
||||
set aspeed [lindex [hval $statuspath] $paramindex(aspeed) end]
|
||||
if {[string match {*CONTROL*} $state] || $aspeed != 0} {
|
||||
error "Not allowed while the velocity selector is running"
|
||||
}
|
||||
return OK
|
||||
}
|
||||
|
||||
::scobj::hinitprops velsel
|
||||
hsetprop /sics/velsel klass NXvelocity_selector
|
||||
hsetprop /sics/velsel privilege spy
|
||||
hsetprop /sics/velsel type part
|
||||
::scobj::set_required_props /sics/velsel
|
||||
foreach {hpath klass priv alias} {
|
||||
LambdaA parameter user velsel_lambdaa
|
||||
LambdaResFWHM_percent parameter user velsel_lambdaresfwhm_percent
|
||||
rspeed parameter user velsel_rspeed
|
||||
aspeed parameter user velsel_aspeed
|
||||
ttang parameter user velsel_ttang
|
||||
} {
|
||||
hsetprop /sics/velsel/$hpath nxalias $alias
|
||||
hsetprop /sics/velsel/$hpath klass $klass
|
||||
hsetprop /sics/velsel/$hpath privilege $priv
|
||||
hsetprop /sics/velsel/$hpath control true
|
||||
hsetprop /sics/velsel/$hpath data true
|
||||
hsetprop /sics/velsel/$hpath nxsave true
|
||||
hsetprop /sics/velsel/$hpath mutable true
|
||||
hsetprop /sics/velsel/$hpath sdsinfo ::nexus::scobj::sdsinfo
|
||||
proc is_Speed_in_blocked_range {speed} {
|
||||
variable blocked_speeds
|
||||
foreach {min max} $blocked_speeds {
|
||||
if {$min <= $speed && $speed <= $max} {
|
||||
error "Speed of $speed rpm is within the blocked range of $min to $max rpm"
|
||||
}
|
||||
|
||||
}
|
||||
return OK
|
||||
}
|
||||
proc get_nearest_allowed_speed {speed} {
|
||||
variable blocked_speeds
|
||||
set speed_ok true
|
||||
|
||||
foreach {min max} $blocked_speeds {
|
||||
if {$min <= $speed && $speed <= $max} {
|
||||
set speed_ok false
|
||||
break
|
||||
}
|
||||
}
|
||||
if {$speed_ok} {
|
||||
return $speed
|
||||
} else {
|
||||
foreach {min max} $blocked_speeds {
|
||||
if {$min <= $speed && $speed <= $max} {
|
||||
if {$min == -inf} {
|
||||
return [expr $max+10]
|
||||
}
|
||||
if {$max == inf} {
|
||||
return [expr $min-10]
|
||||
}
|
||||
if {[expr $max - $speed] > [expr $speed - $min]} {
|
||||
return [expr $min-10]
|
||||
} else {
|
||||
return [expr $max+10]
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
##
|
||||
# @brief This will check if the requested speed is allowed
|
||||
proc checkBlockedSpeeds {statuspath} {
|
||||
variable paramindex
|
||||
|
||||
set speed [sct target]
|
||||
set ttang [lindex [hval $statuspath] $paramindex(ttang) end]
|
||||
if {$ttang > 90} {
|
||||
error "ERROR: You must first initialise the turntable"
|
||||
}
|
||||
|
||||
return [is_Speed_in_blocked_range $speed]
|
||||
}
|
||||
|
||||
##
|
||||
# @brief This will check if target wavelength is allowed
|
||||
proc checkBlockedWavelengths {statuspath} {
|
||||
variable paramindex
|
||||
|
||||
set lambda [sct target]
|
||||
set ttang [lindex [hval $statuspath] $paramindex(ttang) end]
|
||||
if {$ttang > 90} {
|
||||
error "ERROR: You must first initialise the turntable"
|
||||
}
|
||||
set angle [lindex [hval $statuspath] $paramindex(ttang) end]
|
||||
set speed [WavelengthToSpeed $angle $lambda]
|
||||
return [is_Speed_in_blocked_range $speed]
|
||||
}
|
||||
##
|
||||
# @brief Implement the checkstatus command for the drivable interface
|
||||
#
|
||||
# NOTE: The drive adapter initially sets the writestatus to "start" and will
|
||||
# only call this when writestatus!="start"
|
||||
# TODO Do we need to handle hardware faults or is the state check in rdstate enough?
|
||||
proc drivestatus {} {
|
||||
if [sct driving] {
|
||||
return busy
|
||||
} else {
|
||||
return idle
|
||||
}
|
||||
}
|
||||
|
||||
proc halt {root} {
|
||||
hsetprop $root/setspeed driving 0
|
||||
hsetprop $root/setLambdaA driving 0
|
||||
hset $root/status "idle"
|
||||
statemon stop nvs_speed
|
||||
statemon stop nvs_lambda
|
||||
set speed [get_nearest_allowed_speed [hval $root/aspeed]]
|
||||
broadcast halt: set speed to $speed
|
||||
catch {hset $root/setspeed $speed} msg
|
||||
broadcast $msg
|
||||
return idle
|
||||
}
|
||||
|
||||
proc setPar {par nextState} {
|
||||
set val [sct target]
|
||||
sct send "#SOS#$par $val"
|
||||
return $nextState
|
||||
}
|
||||
|
||||
proc setLambda {vs_root statuspath nextState} {
|
||||
variable paramindex
|
||||
set lambda [sct target]
|
||||
|
||||
set angle [lindex [hval $statuspath] $paramindex(ttang) end]
|
||||
set speed [WavelengthToSpeed $angle $lambda]
|
||||
set fmtspeed [format "%5d" $speed]
|
||||
sct send "#SOS#SPEED $fmtspeed"
|
||||
sct target $lambda
|
||||
hsetprop $vs_root/setspeed target $speed
|
||||
hset $vs_root/status "busy"
|
||||
statemon start nvs_speed
|
||||
statemon start nvs_lambda
|
||||
if {[sct writestatus] == "start"} {
|
||||
# Called by drive adapter
|
||||
hsetprop $vs_root/setLambdaA driving 1
|
||||
hsetprop $vs_root/setspeed driving 1
|
||||
}
|
||||
return $nextState
|
||||
}
|
||||
|
||||
# Create Velocity selector control
|
||||
set scobjNS ::scobj::velocity_selector
|
||||
set statusPath /sics/velsel_poller/status
|
||||
set velselPath /sics/velocity_selector
|
||||
|
||||
hfactory $statusPath plain internal text
|
||||
hsetprop $statusPath read ${scobjNS}::getStatus
|
||||
hsetprop $statusPath rdState ${scobjNS}::rdState $velselPath $statusPath
|
||||
hsetprop $statusPath sendUID ${scobjNS}::sendUID $UID
|
||||
hsetprop $statusPath rdPwdChallenge ${scobjNS}::rdPwdChallenge
|
||||
hsetprop $statusPath sndPwd ${scobjNS}::sndPwd $PWD
|
||||
hsetprop $statusPath rdPwdAck ${scobjNS}::rdPwdAck
|
||||
hsetprop $statusPath oldval "UNKNOWN"
|
||||
hsetprop $statusPath oldstate "UNKNOWN"
|
||||
|
||||
# Abstract status info for GumTree
|
||||
hfactory $velselPath/status plain spy text
|
||||
hset $velselPath/status "UNKNOWN"
|
||||
hsetprop $velselPath/status values busy,idle
|
||||
hfactory $velselPath/device_error plain spy text
|
||||
hset $velselPath/device_error ""
|
||||
|
||||
# Must be set by user
|
||||
hfactory $velselPath/LambdaResFWHM_percent plain user float
|
||||
hfactory $velselPath/geometry plain spy none
|
||||
hfactory $velselPath/geometry/position plain spy none
|
||||
hfactory $velselPath/geometry/position/VelSelPosXmm plain user float
|
||||
hfactory $velselPath/geometry/position/VelSelPosYmm plain user float
|
||||
hfactory $velselPath/geometry/position/VelSelPosZmm plain user float
|
||||
hfactory $velselPath/geometry/position/VelSelCoordScheme plain user text
|
||||
|
||||
# Get parameters from state report
|
||||
foreach par [lsort [array names paramindex]] {
|
||||
hfactory $velselPath/$par plain spy $paramtype($par)
|
||||
hsetprop $velselPath/$par read ${scobjNS}::getpar rdpar
|
||||
hsetprop $velselPath/$par rdpar ${scobjNS}::updatepar $statusPath $paramindex($par)
|
||||
hsetprop $velselPath/$par oldval "UNKNOWN"
|
||||
}
|
||||
# Initialise turntable command
|
||||
hfactory $velselPath/ttinit plain spy none
|
||||
hsetprop $velselPath/ttinit check ${scobjNS}::ttableCheck $statusPath ignore
|
||||
hsetprop $velselPath/ttinit write ${scobjNS}::sendCommand ignore
|
||||
hsetprop $velselPath/ttinit ignore ${scobjNS}::noResponse
|
||||
hsetprop $velselPath/ttinit values init
|
||||
|
||||
# Set tilt angle
|
||||
# TODO Can we set "check" to test if angle is within range then chain to ttableCheck
|
||||
hfactory $velselPath/set_ttang plain spy float
|
||||
hsetprop $velselPath/set_ttang check ${scobjNS}::ttableCheck $statusPath ignore
|
||||
hsetprop $velselPath/set_ttang write ${scobjNS}::setPar TTANGL ignore
|
||||
hsetprop $velselPath/set_ttang ignore ${scobjNS}::noResponse
|
||||
|
||||
|
||||
# Get Lambda
|
||||
hfactory $velselPath/LambdaA plain spy float
|
||||
hsetprop $velselPath/LambdaA read ${scobjNS}::getpar rdpar
|
||||
hsetprop $velselPath/LambdaA rdpar ${scobjNS}::readLambda $statusPath
|
||||
hsetprop $velselPath/LambdaA oldval "UNKNOWN"
|
||||
# Set Lambda
|
||||
hfactory $velselPath/setLambdaA plain spy float
|
||||
hsetprop $velselPath/setLambdaA check ${scobjNS}::checkBlockedWavelengths $statusPath
|
||||
hsetprop $velselPath/setLambdaA write ${scobjNS}::setLambda $velselPath $statusPath ignore
|
||||
hsetprop $velselPath/setLambdaA ignore ${scobjNS}::noResponse
|
||||
hsetprop $velselPath/setLambdaA driving 0
|
||||
#TODO WARNING remove sicsdev and type if setLambdaA gets a drive addapter
|
||||
# hsetprop $velselPath/setLambdaA sicsdev "nvs_lambda"
|
||||
hsetprop $velselPath/setLambdaA type "drivable"
|
||||
hsetprop $velselPath/setLambdaA target 0
|
||||
hsetprop $velselPath/setLambdaA writestatus "UNKNOWN"
|
||||
|
||||
# Set speed
|
||||
hfactory $velselPath/setspeed plain spy int
|
||||
hsetprop $velselPath/setspeed check ${scobjNS}::checkBlockedSpeeds $statusPath
|
||||
hsetprop $velselPath/setspeed write ${scobjNS}::setSpeed $velselPath $statusPath ignore
|
||||
hsetprop $velselPath/setspeed ignore ${scobjNS}::noResponse
|
||||
hsetprop $velselPath/setspeed driving 0
|
||||
hsetprop $velselPath/setspeed type "drivable"
|
||||
hsetprop $velselPath/setspeed target 0
|
||||
hsetprop $velselPath/setspeed writestatus "UNKNOWN"
|
||||
|
||||
# Stop velocity selector (brake or idle)
|
||||
hfactory $velselPath/cmd plain spy text
|
||||
hsetprop $velselPath/cmd write ${scobjNS}::sendCommand ignore
|
||||
hsetprop $velselPath/cmd ignore ${scobjNS}::noResponse
|
||||
hsetprop $velselPath/cmd values brake,idle
|
||||
|
||||
#XXX ::scobj::hinitprops velocity_selector
|
||||
::scobj::set_required_props $velselPath
|
||||
hsetprop $velselPath klass NXvelocity_selector
|
||||
hsetprop $velselPath privilege spy
|
||||
hsetprop $velselPath type part
|
||||
hsetprop $velselPath control true
|
||||
hsetprop $velselPath data true
|
||||
hsetprop $velselPath/geometry klass NXgeometry
|
||||
hsetprop $velselPath/geometry privilege spy
|
||||
hsetprop $velselPath/geometry type instrument
|
||||
hsetprop $velselPath/geometry data true
|
||||
hsetprop $velselPath/geometry control true
|
||||
hsetprop $velselPath/geometry/position klass NXtranslation
|
||||
hsetprop $velselPath/geometry/position privilege spy
|
||||
hsetprop $velselPath/geometry/position type instrument
|
||||
hsetprop $velselPath/geometry/position data true
|
||||
hsetprop $velselPath/geometry/position control true
|
||||
foreach {hpath klass control data nxsave mutable priv alias} {
|
||||
LambdaA parameter true true true true user velsel_lambdaa
|
||||
LambdaResFWHM_percent parameter true true true true spy velsel_lambdaresfwhm_percent
|
||||
rspeed parameter true true true true spy velsel_rspeed
|
||||
aspeed parameter true true true true user velsel_aspeed
|
||||
ttang parameter true true true true user velsel_ttang
|
||||
ttinit parameter true false false true user velsel_ttang
|
||||
geometry/position/VelSelPosXmm parameter true true true false user VelSelPosXmm
|
||||
geometry/position/VelSelPosYmm parameter true true true false user VelSelPosYmm
|
||||
geometry/position/VelSelPosZmm parameter true true true false user VelSelPosZmm
|
||||
geometry/position/VelSelCoordScheme parameter true true true false user VelSelCoordScheme
|
||||
} {
|
||||
hsetprop $velselPath/$hpath nxalias $alias
|
||||
hsetprop $velselPath/$hpath klass $klass
|
||||
hsetprop $velselPath/$hpath privilege $priv
|
||||
hsetprop $velselPath/$hpath control $control
|
||||
hsetprop $velselPath/$hpath data $data
|
||||
hsetprop $velselPath/$hpath nxsave $nxsave
|
||||
hsetprop $velselPath/$hpath mutable $mutable
|
||||
hsetprop $velselPath/$hpath sdsinfo ::nexus::scobj::sdsinfo
|
||||
}
|
||||
|
||||
hsetprop $velselPath/setspeed checklimits ${scobjNS}::checkBlockedSpeeds $statusPath
|
||||
hsetprop $velselPath/setspeed checkstatus ${scobjNS}::drivestatus
|
||||
hsetprop $velselPath/setspeed halt ${scobjNS}::halt $velselPath
|
||||
|
||||
hsetprop $velselPath/setLambdaA checklimits ${scobjNS}::checkBlockedWavelengths $statusPath
|
||||
hsetprop $velselPath/setLambdaA checkstatus ${scobjNS}::drivestatus
|
||||
hsetprop $velselPath/setLambdaA halt ${scobjNS}::halt $velselPath
|
||||
|
||||
##
|
||||
# @brief This is the position of the velocity selector bunker face. It is used
|
||||
# as the reference for other positions. x=y=z=0.
|
||||
hset $velselPath/geometry/position/VelSelPosXmm 0.0
|
||||
hset $velselPath/geometry/position/VelSelPosYmm 0.0
|
||||
hset $velselPath/geometry/position/VelSelPosZmm 0.0
|
||||
hset $velselPath/geometry/position/VelSelCoordScheme "Cartesian"
|
||||
|
||||
|
||||
|
||||
proc sct_velsel_init {velselPath } {
|
||||
variable pollrate
|
||||
variable paramindex
|
||||
|
||||
foreach par [lsort [array names paramindex]] {
|
||||
sct_velsel poll $velselPath/$par $pollrate
|
||||
}
|
||||
sct_velsel write $velselPath/ttinit
|
||||
sct_velsel write $velselPath/set_ttang
|
||||
sct_velsel poll $velselPath/LambdaA $pollrate
|
||||
sct_velsel write $velselPath/setLambdaA
|
||||
sct_velsel write $velselPath/setspeed
|
||||
sct_velsel write $velselPath/cmd
|
||||
ansto_makesctdrive nvs_speed $velselPath/setspeed $velselPath/aspeed sct_velsel
|
||||
ansto_makesctdrive nvs_lambda $velselPath/setLambdaA $velselPath/LambdaA sct_velsel
|
||||
}
|
||||
if {$sim_mode == "false"} {
|
||||
makesctcontroller sct_velsel astvelsel $velsel_IP:$velsel_port "" 10
|
||||
sct_velsel poll $statusPath $pollrate
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,20 +1,48 @@
|
||||
puts "velsel.tcl NOT YET AVAILABLE"
|
||||
if 0 {
|
||||
set velsel_controller(host) 137.157.202.70
|
||||
set velsel_controller(port) 10000
|
||||
set velsel_controller(user) NVS
|
||||
set velsel_controller(password) NVS
|
||||
set currVelSel "two"
|
||||
|
||||
namespace eval ::scobj::velocity_selector {
|
||||
variable blocked_speeds
|
||||
variable velsel_IP
|
||||
variable velsel_port
|
||||
|
||||
# Velocity Selector
|
||||
MakeTCPSelector velsel [params \
|
||||
Host $velsel_controller(host) \
|
||||
Port $velsel_controller(port) \
|
||||
User $velsel_controller(user) \
|
||||
Password $velsel_controller(password) \
|
||||
]
|
||||
|
||||
velsel add 3600 4900
|
||||
velsel add 7800 10500
|
||||
velsel add 30000 30000
|
||||
set ::currVelSel [string tolower $::currVelSel]
|
||||
switch $::currVelSel {
|
||||
"one" {
|
||||
set velsel_IP "137.157.202.73"
|
||||
set velsel_port 10000
|
||||
set m_dTwistAngle 48.30
|
||||
set m_dLength 0.250
|
||||
set m_iMaxSpeed 28300.0
|
||||
set rBeamCenter 0.110
|
||||
set ::scobj::velocity_selector::UID "NVS"
|
||||
set ::scobj::velocity_selector::PWD "NVS"
|
||||
set VNeutron 3955.98
|
||||
set ::scobj::velocity_selector::blocked_speeds {
|
||||
-inf 3099
|
||||
3600 4999
|
||||
7800 10599
|
||||
28301 inf
|
||||
}
|
||||
}
|
||||
"two" {
|
||||
# dc2-quokka.nbi.ansto.gov.au
|
||||
set velsel_IP "137.157.202.74"
|
||||
set velsel_port 10000
|
||||
set m_dTwistAngle 37.6
|
||||
set m_dLength 0.250
|
||||
set m_iMaxSpeed 21500.0
|
||||
set rBeamCenter 0.1170
|
||||
set VNeutron 3955.98
|
||||
set ::scobj::velocity_selector::UID "NVS"
|
||||
set ::scobj::velocity_selector::PWD "NVS"
|
||||
set ::scobj::velocity_selector::blocked_speeds {
|
||||
-inf 3099
|
||||
3600 4999
|
||||
7800 9699
|
||||
21500 inf
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
source $cfPath(velsel)/sct_velsel.tcl
|
||||
|
||||
Reference in New Issue
Block a user