dmc2280_util.tcl:

dmc send and receive commands now take a socket as a parameter.  channel and controller arrays can be used to lookup the socket by IP address or controller name.

troubleshoot.tcl:
Uses new dmc send and receive commands.  Also loads motorinfo.tcl so that encoder readings can be read.

r1128 | ffr | 2006-10-09 13:12:08 +1000 (Mon, 09 Oct 2006) | 6 lines

site_ansto/instrument/dmc2280_util.tcl

@@ -1,13 +1,16 @@
-# $Revision: 1.3 $
-# $Date: 2006-09-01 04:52:58 $
+# $Revision: 1.4 $
+# $Date: 2006-10-09 03:12:08 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by $Author: ffr $
 
+# globals controller, channel
+
 # Open a communications channel to a dmc2280 motor controller
 # contName: controller name, eg dmc2280_controller1
 # The host and port in the SICS configuration file will be used by default
 proc dmc_connect {contName {host ""} {port ""}} {
-  upvar #0 $contName controller
+  upvar #0 $contName controller;
+  global channel;
 
   if {$host == ""} {set host $controller(host)}
   if {$port == ""} {set port $controller(port)}
@@ -15,24 +18,36 @@ proc dmc_connect {contName {host ""} {port ""}} {
   if [catch {socket $host $port} con] {
     error "Failed to connect to $contName IP($host) port($port)\n\
     $con\n
-    Is the motor controller switched on? Are the network cables plugged in?"
+    Is the motor controller switched on? Are the network cables plugged in?\n
+    NOTE: You can only have a maximum of eight connections per motor controller.\n
+    If there are other programs (eg SICS) connected to the controller then all\n
+    of the available connections may have been used up."
   }
   set controller(socket) $con
-  fconfigure $controller(socket) -buffering line -translation crlf -blocking true
+  set channel($contName) $con
+  set channel($con) $contName
+  set channel($controller(host)) $con
+  fconfigure $con -buffering line -translation crlf -blocking true
+}
+
+proc dmc_close {dmc_socket} {
+  close $dmc_socket;
 }
 
 # Send a dmc2280 command
-proc dmc_sendCmd {contName cmd} {
+proc dmc_sendCmd {dmc_socket cmd} {
+  global channel
+  set contName $channel($dmc_socket);
   upvar #0 $contName controller
-  puts $controller(socket) $cmd
-  set status [read $controller(socket) 1]
+  puts $dmc_socket $cmd
+  set status [read $dmc_socket 1]
   if {$status == "?"} {
-    puts $controller(socket) "TC 1"
-    set status [read $controller(socket) 1]
+    puts $dmc_socket "TC 1"
+    set status [read $dmc_socket 1]
     if {$status == "?"} {
       error "error: dmc command $cmd failed"
     } else {
-      set dmcError [dmc_receive $controller(socket)]
+      set dmcError [dmc_receive $dmc_socket]
       set errInfo "DM2280 controller $contName
       host $controller(host)
       port $controller(port)"
@@ -44,11 +59,13 @@ proc dmc_sendCmd {contName cmd} {
 }
 
 # Receive a dmc2280 command
-proc dmc_receive {contName} {
+proc dmc_receive {dmc_socket} {
+  global channel
+  set contName $channel($dmc_socket);
   upvar #0 $contName controller
-  gets $controller(socket) line
+  gets $dmc_socket line
   # Consume the following colon
-  read $controller(socket) 1
+  read $dmc_socket 1
   return $line
 }
 

site_ansto/instrument/troubleShoot.tcl

@@ -1,13 +1,14 @@
 #!/usr/bin/env tclsh
 
-# $Revision: 1.5 $
-# $Date: 2006-09-06 03:49:08 $
+# $Revision: 1.6 $
+# $Date: 2006-10-09 03:12:08 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by $Author: ffr $
 
 # Load troubleshooting setup
 source dmc2280_util.tcl
 source troubleshoot_setup.tcl
+source motorinfo.tcl
 
 if { $argc > 0 } {
   set configFileName [lindex $argv 0]
@@ -36,21 +37,19 @@ proc loadConfig {fName} {
 
 proc subExists {contName sub} {
   upvar #0 $contName controller
-  if [catch {::dmc_sendCmd $contName "LS $sub,0"} errMsg] {
+  if [catch {::dmc_sendCmd $controller(socket) "LS $sub,0"} errMsg] {
     error "Subroutine $sub does not exist on controller $contName"
   }
-  ::dmc_receive $contName
+  ::dmc_receive $controller(socket)
 }
 
 # Returns -1 if thread is not running, line number if it is
 proc checkThread {contName thnum} {
   upvar #0 $contName controller
-  ::dmc_sendCmd $contName "MG _XQ$thnum"
-  set reply [::dmc_receive $contName ]
+  ::dmc_sendCmd $controller(socket) "MG _XQ$thnum"
+  set reply [::dmc_receive $controller(socket) ]
   if {$reply == -1} {
-  error "Thread $thnum not running on controller $contName\n
-  If the broken thread is 0, then it is probably a loop in the #AUTO subroutine\n
-  which is not being reached."
+  error "Thread $thnum not running on controller $contName"
   }
   return $reply
 }
@@ -103,11 +102,12 @@ proc checkThread {contName thnum} {
   proc mkGui {} {
   variable ContList
   lappend Headings $ContList
+  frame .t -bg black
   table .t $ContList
   pack .t
+  testgui
   }
   proc table {w headings args} {
-    frame $w -bg black
     set r 0
 
         foreach name $headings {