Add speed acceleration and descriptive information sourced from Dan's spreadsheet.

site_ansto/instrument/util/genmotconf.tcl

@@ -29,10 +29,11 @@ set FAILED_MOTCFG_CNT 0
 #              NOTE Encoder readings for the limit switch positions are required.
 #                   If the encoder "absenchome" reading is not supplied it is set equal to rev_enc_lim
 # ENCMOT_ATTLIST: Attributes which describe an axis which has both a motor and encoder.
+# OPT_ATTLIST: Optional attributes which may define recommended settings as well as descriptive information.
 # REQ_ATTLIST: List of attributes required to generate a configuration for a motor object.
 # SICS_CFG_MOTATTLIST: Extra attributes required to configure a motor object in SICS.
 # SICS_CFG_ENCMOTATTLIST: Extra attributes required to configure a motor object with an encoder in SICS.
-# ALL_ATTRIBUTES: List of all attributes recognised by this program.
+# ALL_ATTRIBUTES: List of all possible attributes recognised by this program.
 #
 # Attributes which are not in these lists are assumed to define the encoder
 # readings for each position on an axis which has a set of meaningful positions
@@ -40,10 +41,27 @@ set FAILED_MOTCFG_CNT 0
 set MOT_ATTLIST [lsort {axis mc steps_per_x}]
 set ENC_ATTLIST [lsort {cnts_per_x fwd_enc_lim rev_enc_lim}]
 set ENCMOT_ATTLIST [lsort [concat $MOT_ATTLIST $ENC_ATTLIST]]
+set OPT_ATTLIST [lsort {axis_number dflt_accel_steps dflt_decel_steps dflt_speed_steps description speed accel decel}]
 set SICS_CFG_MOTATTLIST [lsort {home fwd_lim rev_lim maxspeed maxaccel maxdecel part units}]
 set SICS_CFG_ENCMOTATTLIST [lsort [concat absenchome $SICS_CFG_MOTATTLIST]]
 set REQ_ATTLIST [lsort [concat $MOT_ATTLIST $SICS_CFG_MOTATTLIST]]
-set ALL_ATTRIBUTES [lsort [concat $ENCMOT_ATTLIST $SICS_CFG_ENCMOTATTLIST]]
+set ALL_ATTRIBUTES [lsort [concat $ENCMOT_ATTLIST $SICS_CFG_ENCMOTATTLIST $OPT_ATTLIST]]
+
+set arg0 [lindex $argv 0]
+if {[string match $arg0 "help"] || [string match $arg0 "--help"] || [string match $arg0 "-h"]} {
+  puts "\nUsage: $argv0 file1.csv file2.csv ..."
+  puts "\nThe following parameters must be provided in the CSV files,"
+  puts "   $MOT_ATTLIST"
+  puts "\nA motor with an encoder must also provide these parameters,"
+  puts "   $ENC_ATTLIST"
+  puts "\nOptionally these parameters may also be provided"
+  puts "   $OPT_ATTLIST"
+  puts "\nIf these motor parameters are not provided they will be generated,"
+  puts "   $SICS_CFG_MOTATTLIST"
+  puts "\nIf an axis has an encoder these parameters will be generated,"
+  puts "   $SICS_CFG_ENCMOTATTLIST"
+  exit 0
+}
 
 array set autogen_attarr {}
 set scriptname [file tail [file rootname $argv0]]
@@ -111,7 +129,7 @@ set fhmc [open "generated_motor_configuration.tcl" "w"]
 # Write configuration file header and make asyncqueues
 mk_cfg_header $fhmc
 puts $fhmc ""
-foreach mn [lsort [array names motor_attcnt]] {
+foreach mn [lsort -dictionary [array names motor_attcnt]] {
   set encmot_attlist [lsort [array names ${mn}_encatts]]
   set mot_attlist [lsort [concat [array names ${mn}_attarr] [array names ${mn}_encatts]]]
   set num_encatts_defined [llength $encmot_attlist]
@@ -191,14 +209,30 @@ foreach mn [lsort [array names motor_attcnt]] {
       foreach att $undef_atts {
         set attval [gen_attval $mn $att]
         if {$attval != "NOATT"} {
+          if [string is double $attval] {
+            set attval [format "%.4f" $attval]
+          }
           lappend autogen_attarr($mn) "${mn}_$att,$attval"
         }
       }
     }
   }
+  if {[info exists ::${mn}_attarr(dflt_speed_steps)] && ![info exists ${mn}_attarr(speed)]} {
+    set speed_phys_units [ expr double([set ::${mn}_attarr(dflt_speed_steps)]) / abs([set ::${mn}_attarr(steps_per_x)]) ]
+    lappend ::autogen_attarr($mn) "${mn}_speed,[format "%.4f" $speed_phys_units]"
+  }
+  if {[info exists ::${mn}_attarr(dflt_accel_steps)] && ![info exists ${mn}_attarr(accel)]} {
+    set accel_phys_units [ expr double([set ::${mn}_attarr(dflt_accel_steps)]) / abs([set ::${mn}_attarr(steps_per_x)]) ]
+    lappend ::autogen_attarr($mn) "${mn}_accel,[format "%.4f" $accel_phys_units]"
+  }
+  if {[info exists ::${mn}_attarr(dflt_decel_steps)] && ![info exists ${mn}_attarr(decel)]} {
+    set decel_phys_units [ expr double([set ::${mn}_attarr(dflt_decel_steps)]) / abs([set ::${mn}_attarr(steps_per_x)]) ]
+    lappend ::autogen_attarr($mn) "${mn}_decel,[format "%.4f" $decel_phys_units]"
+  }
 }
 
 # If there are any autogenerated attributes then write them to a file.
+puts ""
 if {[array size autogen_attarr] > 0} {
   set fh [open "missing_attlist.csv" "w"]
   puts "The attributes with default values needed to complete the configuration of the following motors has been written to missing_attlist.csv,"
@@ -209,11 +243,11 @@ if {[array size autogen_attarr] > 0} {
     }
   }
   close $fh
-  puts ""
+  puts "\n"
   puts "Rename missing_attlist.csv and redo to generate a configuration file which also includes the motors listed above."
   puts "Eg,"
-  puts "mv missing_attlist.csv sicsmot_attlist.csv"
+  puts "   mv missing_attlist.csv sicsmot_attlist.csv"
-  puts "$argv0 $argv sicsmot_attlist.csv"
+  puts ""
 }
 
 # The SICS init code calls motor_set_sobj_attributes. It can be redefined in

site_ansto/instrument/util/genmotconf_procs.tcl

@@ -13,7 +13,6 @@ proc parse_file {fname fhr fhe} {
   puts $fhr "\nPARSE '$fname'"
   set lcount 0
   set fh [open $fname "r"]
-  puts $fhr "Create a per motor attribute dictionary for each attribute in the following list of required attributes,"
   while {[gets $fh line] >= 0} {
     incr lcount
     foreach {name val} [split $line {,}] {}
@@ -37,7 +36,8 @@ proc parse_file {fname fhr fhe} {
   }
   close $fh
   puts -nonewline $fhr "CONTROLLER USAGE COUNT: "
-  foreach {cont count} [array get ::controllers] {
+  foreach {cont} [lsort -dictionary [array names ::controllers]] {
+    set count $::controllers($cont)
     puts -nonewline $fhr "$cont count=$count; "
   }
   puts $fhr ""
@@ -91,7 +91,7 @@ if {$sim_mode == true} {
 }
 }
 puts $fhmc "if {\$sim_mode == false} \{"
-foreach cont [array names ::controllers] {
+foreach cont [lsort -dictionary [array names ::controllers]] {
   set index [string toupper $cont]
   puts $fhmc "  [subst -nocommands {MakeAsyncQueue $cont DMC2280 [dict get \$::MOTOR_HOSTPORT $index HOST] [dict get \$::MOTOR_HOSTPORT $index PORT]}]"
 }
@@ -122,9 +122,14 @@ proc mk_motconf {mot fh absEnc posnum posit_list} {
   set home ${mot}_home
   set part ${mot}_part
   set long_name $mot
-  set description "$mot configuration"
 
-  puts $fh "# $description"
+  puts $fh "# $mot configuration"
+  if [info exists ::${mot}_attarr(description)] {
+    puts $fh "# [set ::${mot}_attarr(description)]"
+  }
+  if [info exists ::${mot}_attarr(axis_number)] {
+    puts $fh "# Axis number [set ::${mot}_attarr(axis_number)]"
+  }
   puts $fh "Motor $mot \$motor_driver_type \[params\\"
   puts $fh "  asyncqueue $mc\\"
   puts $fh "  axis $axis\\"
@@ -151,6 +156,15 @@ proc mk_motconf {mot fh absEnc posnum posit_list} {
   puts $fh "$mot home \$$home"
   puts $fh "$mot part \$$part"
   puts $fh "$mot long_name $long_name"
+  if [info exists ::${mot}_attarr(dflt_speed_steps)] {
+    puts $fh "$mot speed \$${mot}_speed"
+  }
+  if [info exists ::${mot}_attarr(dflt_accel_steps)] {
+    puts $fh "$mot accel \$${mot}_accel"
+  }
+  if [info exists ::${mot}_attarr(dflt_decel_steps)] {
+    puts $fh "$mot decel \$${mot}_decel"
+  }
   puts $fh ""
 }