Initial commit
r2845 | ffr | 2009-12-11 13:09:56 +1100 (Fri, 11 Dec 2009) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
3abd3effa2
commit
35d1930d1b
@@ -0,0 +1,193 @@
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# $Revision: 1.2 $
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# $Date: 2009-12-11 02:09:56 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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##
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# @file Platypus Beam Attenuator control and status.
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namespace eval ::scobj::galil {
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variable sim_mode
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variable bat_state
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array set bat_state [list OUT -1 IN 0 OSC 1]
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set NS ::scobj::galil
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set batObjName scbat
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set batpath /sics/$batObjName
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set sim_mode [SplitReply [motor_simulation]]
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# set sim_mode "false"
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if {$sim_mode == "false"} {
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makesctcontroller sct_mc1 galil mc1-platypus:1034
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}
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MakeSICSObj $batObjName SCT_OBJECT
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##
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# @brief Send a command which returns a value
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# @param nextState, State which handles the reply
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# @param cmd, Galil command
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# @return The next state
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proc getValue {nextState cmd} {
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sct send $cmd
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return $nextState
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}
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##
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# @brief Check that a command has been acknowledged
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proc ackCmd {} {
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set reply [sct result]
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switch -glob -- $reply {
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"ASCERR:*" {
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sct geterror $reply
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}
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"OK" {
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return idle
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}
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default {
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sct geterror "Unhandled reply: $reply"
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}
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}
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return idle
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}
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##
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# @brief Simply reports a reply to the user by setting the hipadaba node
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# which this proc is associated with.
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proc rdValue {} {
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set data [sct result]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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}
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default {
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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}
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}
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return idle
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}
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##
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# @brief Translates BAT state to English and reports it via the hdb node.
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proc rdBatAction {} {
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variable bat_state
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set oscd [expr int([sct result])]
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switch -- $oscd [subst {
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$bat_state(OUT) {set msg "out"}
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$bat_state(IN) {set msg "in"}
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$bat_state(OSC) {set msg "osc"}
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default {
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sct geterror "Illegal value $oscd for beam attenuator state"
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return idle
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}
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} ]
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if {$msg != [sct oldval]} {
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sct oldval $msg
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sct update $msg
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sct utime readtime
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}
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return idle
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}
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##
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# @brief Sets the BAT to the state set in the target property
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# of the hdb node.
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# @param nextState, The script context state which handles the galil reply.
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proc setBatAction {nextState} {
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variable bat_state
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set par [sct target]
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switch $par {
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"out" {sct send "OSCD=$bat_state(OUT)"}
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"in" {sct send "OSCD=$bat_state(IN)"}
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"osc" {sct send "OSCD=$bat_state(OSC)"}
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default {
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error "ERROR: illegal action $par for beam attenuator, try 'in', 'out' or 'osc'"
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}
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}
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return $nextState
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}
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##
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# @brief Send a status request to the Galil
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#
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# NOTE: If you change the status command you must also
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# update the rdStatus procedure
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proc getStatus {} {
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sct send "MG OSCD,POS,_TPA,DBAND"
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return rdStatus
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}
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##
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# @brief Parse the status reply from the Galil and set
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# the abstract status.
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proc rdStatus {} {
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variable bat_state
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set data [sct result]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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}
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default {
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if {$data != [sct oldval]} {
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sct oldval $data
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foreach {OSCD POS TPA DBAND} $data {}
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if [expr $OSCD == $bat_state(OSC)] {
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set newStatus "busy"
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} elseif [expr abs($TPA - $POS) < $DBAND] {
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set newStatus "idle"
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} else {
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set newStatus "busy"
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}
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if {[sct oldStatus] != $newStatus} {
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sct oldStatus $newStatus
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sct update $newStatus
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sct utime readtime
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}
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}
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}
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}
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return idle
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}
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# Read and set the BAT state, ie in, out, oscillating
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hfactory $batpath/action plain user text
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hsetprop $batpath/action read ${NS}::getValue rdBatAction "MG OSCD"
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hsetprop $batpath/action rdBatAction ${NS}::rdBatAction
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hsetprop $batpath/action write ${NS}::setBatAction ${NS}::ackCmd
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hsetprop $batpath/action ackCmd ${NS}::ackCmd
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hsetprop $batpath/action oldval UNKNOWN
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# Report the abstract status to GumTree
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hfactory $batpath/status plain user text
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hsetprop $batpath/status read ${NS}::getStatus
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hsetprop $batpath/status rdStatus ${NS}::rdStatus
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hsetprop $batpath/status values busy,idle
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hsetprop $batpath/status oldval UNKNOWN
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hsetprop $batpath/status oldStatus UNKNOWN
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hset $batpath/status idle
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# Report the current position in encoder counts
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# Useful as an activity monitor and troubleshooting.
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hfactory $batpath/pos plain user int
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hsetprop $batpath/pos read ${NS}::getValue rdValue "TPA"
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hsetprop $batpath/pos rdValue ${NS}::rdValue
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hsetprop $batpath/pos oldval UNKNOWN
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if {$sim_mode == "false"} {
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sct_mc1 poll $batpath/pos
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sct_mc1 poll $batpath/action
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sct_mc1 poll $batpath/status
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sct_mc1 write $batpath/action
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}
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# Set hipadaba properties for GumTree interface
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# and NeXus data file.
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hsetprop $batpath klass NXaperture
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::scobj::hinitprops $batObjName
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hsetprop $batpath/action mutable "false"
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::scobj::hinitprops $batObjName action
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}
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