SICS-46

commands_common.tcl
Added ::motor::go_home command to run motors to their home positions.

hrpd,hipd,rsd,sans,reflectometer/commands.tcl
Initilise ::motor::is_homing_list for the ::motor::go_hom command

util/command.tcl
Allow an empty parameter list

server_config.tcl
Call the "commands" initilisation function on server init

motor_asim.c
Added the "home" parameter so we can test the go_home command

r2677 | ffr | 2008-08-14 15:00:18 +1000 (Thu, 14 Aug 2008) | 17 lines

site_ansto/instrument/config/commands/commands_common.tcl

@@ -2,6 +2,8 @@
 # @file Definition of common command node procs.
 
 ################################################################################
+namespace eval commands { }
+
 # SCAN COMMANDS
 namespace eval scan {
 command hdb_bmonscan {
@@ -80,3 +82,30 @@ namespace eval monitor {
   ::monitor::count -set feedback status IDLE
 }
 ################################################################################
+
+proc ::commands::ic_initialize {} {
+# Generate the following commands, 
+# ::motor::go_home
+  namespace eval ::motor {
+    set NS [uplevel namespace current]
+      if {[info exists is_homing_list] == 0} {
+        return -code error "ERROR: Instrument specific command config must set ${NS}::is_homing_list\n"
+      }
+    command go_home "text=$is_homing_list motors" {
+      # Instrument specific command configurations must define 
+      # ::motor::is_homing_list, this is a possibly empty comma separated list 
+      # of motors which are safe to send to home
+      variable is_homing_list
+
+      if {$motors == ""} {return}
+      set motlist [split $motors ,]
+      if {[setdiff $motlist [split $is_homing_list , ]] != ""} {
+        return -code error "ERROR: You can only \"home\" a subset of $is_homing_list"
+      }
+        foreach motor $motlist {
+          lappend runargs $motor [SplitReply [$motor home]]
+        }
+      eval "run $runargs"
+    }
+  }
+}