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"
+    }
+  }
+}

site_ansto/instrument/hipd/config/commands/commands.tcl

@@ -1 +1,6 @@
 source $cfPath(commands)/commands_common.tcl
+
+namespace eval motor {
+# is_homing_list = comma separated list of motors which are safe to send "home"
+    variable is_homing_list ""
+}

site_ansto/instrument/hrpd/config/commands/commands.tcl

@@ -1 +1,6 @@
 source $cfPath(commands)/commands_common.tcl
+
+namespace eval motor {
+# is_homing_list = comma separated list of motors which are safe to send "home"
+    variable is_homing_list ""
+}

site_ansto/instrument/reflectometer/config/commands/commands.tcl

@@ -1 +1,6 @@
 source $cfPath(commands)/commands_common.tcl
+
+namespace eval motor {
+# is_homing_list = comma separated list of motors which are safe to send "home"
+    variable is_homing_list ""
+}

site_ansto/instrument/rsd/config/commands/commands.tcl

@@ -1 +1,6 @@
 source $cfPath(commands)/commands_common.tcl
+
+namespace eval motor {
+# is_homing_list = comma separated list of motors which are safe to send "home"
+    variable is_homing_list ""
+}

site_ansto/instrument/sans/config/commands/commands.tcl

@@ -1,5 +1,10 @@
 source $cfPath(commands)/commands_common.tcl
 
+namespace eval motor {
+# is_homing_list = comma separated list of motors which are safe to send "home"
+    variable is_homing_list ""
+}
+
 namespace eval sample {
   command select {int=0:8 sampid} {
     SampleNum $sampid
@@ -72,3 +77,7 @@ namespace eval optics {
   ::optics::guide -addfb text status
   ::optics::guide -set feedback status IDLE
 }
+
+proc ::commands::isc_initialize {} {
+  ::commands::ic_initialize
+}

site_ansto/instrument/server_config.tcl

@@ -1,7 +1,7 @@
 # SICS common configuration
 
-# $Revision: 1.38 $
-# $Date: 2008-07-18 04:33:38 $
+# $Revision: 1.39 $
+# $Date: 2008-08-14 05:00:18 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by $Author: ffr $
 
@@ -138,7 +138,7 @@ sics_release [lindex $tmpstr [expr [llength $tmpstr] - 1]]
 sics_release lock
 
 ::utility::mkVar sics_revision_num Text internal
-set tmpstr [string map {"$" ""} {$Revision: 1.38 $}]
+set tmpstr [string map {"$" ""} {$Revision: 1.39 $}]
 sics_revision_num [lindex $tmpstr [expr [llength $tmpstr] - 1]]
 sics_revision_num lock
 
@@ -187,6 +187,7 @@ proc server_init {} {
     ::counter::isc_initialize
     ::histogram_memory::isc_initialize
     ::scan::isc_initialize
+    ::commands::isc_initialize
     MakeStateMon hmscan
     sicslist setatt sics_suid privilege readonly
     sicslist setatt sics_suid klass data

site_ansto/instrument/util/command.tcl

@@ -19,6 +19,7 @@ proc command {acmdName arglist body} {
     unset ${cmdName}_feedback_list
   }
  # puts "cmdName: $cmdName"
+    set params ""
     foreach {type_spec var} $arglist {
       lappend params $var
       foreach {type domain} [split $type_spec "="] {}

site_ansto/motor_asim.c

@@ -94,6 +94,7 @@ typedef  struct ___MoDriv {
         float fPos;       /* simulated current position */
         float fTarget;    /* simulation target position including fault */
         float fDestination; /* requested final position */
+        float home;
         int   iStatus;
         char units[256]; /**<  physical units for axis */
         char long_name[256]; /**<  long name of motor */
@@ -650,6 +651,15 @@ int SimAction(SConnection *pCon, SicsInterp *pSics, void *pData,
       }
       newZero = (currPos - newValue);
       return MotorSetPar(self->pMot, pCon, "softzero", newZero);
+    } else if(strcasecmp("home", argv[1]) == 0) {
+      if (argc > 2) {
+        sscanf(argv[2], "%f", &(self->home));
+      } else {
+        char line[132];
+        snprintf(line, 132, "%s.home = %f", argv[0], self->home);
+        SCWrite(pCon, line, eValue);
+        return 1;
+      }
     }
     else if(strcasecmp("reset", argv[1]) == 0) { }
     else if(strcasecmp("state", argv[1]) == 0) { }