genmotconf.tcl now sorts the posit_n parameters by value.

Sort is ascending if cntsperx is positive, descending if negative.
Improve error and report logs generated by genmotconf.tcl
It is not an error if a missing attributed can be initialised with a
default value by genmotconf.tcl.
Replace the COLLIMATOR_POSITIONS.csv with Bilby_motion_control_commissioning_checklist.csv
Generate new "generated_motor_configuration.tcl" file.

site_ansto/instrument/util/genmotconf.tcl

@@ -22,26 +22,30 @@ source [file dirname $argv0]/genmotconf_procs.tcl
 
 set ERRCNT 0
 set MOTCFG_CNT 0
+set CANCFG_CNT 0
 set FAILED_MOTCFG_CNT 0
 # MOT_ATTLIST: Attributes required to configure an axis without an encoder
 # ENC_ATTLIST: Attributes required to describe an encoder.
 #              NOTE Encoder readings for the limit switch positions are required.
-#                   If the encoder "home" reading is not supplied it is set equal to rev_enc_lim
+#                   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.
 # REQ_ATTLIST: List of attributes required to generate a configuration for a motor object.
-# SICS_CFG_ATTLIST: Extra attributes required to configure a motor object in SICS.
+# 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.
 #
 # 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
 # such as apertures or multi-sample tables.
 set MOT_ATTLIST [lsort {axis mc steps_per_x}]
-set ENC_ATTLIST [lsort {absenchome cnts_per_x fwd_enc_lim rev_enc_lim}]
-set ENCMOT_ATTLIST [lsort [concat $MOT_ATTLIST ENCMOT_ATTLIST]]
-set SICS_CFG_ATTLIST [lsort {home fwd_lim rev_lim maxspeed maxaccel maxdecel part units}]
-set REQ_ATTLIST [lsort [concat $MOT_ATTLIST $SICS_CFG_ATTLIST]]
-set ALL_ATTRIBUTES [lsort [concat $ENCMOT_ATTLIST $SICS_CFG_ATTLIST]]
+set ENC_ATTLIST [lsort {cnts_per_x fwd_enc_lim rev_enc_lim}]
+set ENCMOT_ATTLIST [lsort [concat $MOT_ATTLIST $ENC_ATTLIST]]
+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]]
 
+array set autogen_attarr {}
 set scriptname [file tail [file rootname $argv0]]
 set file_list $argv
 
@@ -107,28 +111,23 @@ 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]] {
-  set mot_attlist [lsort [array names $mn]]
-  set mot_encattlist [lsort [array names ${mn}_encatts]]
-  set num_encatts [llength $mot_encattlist]
-  set missing_enc_atts [setdiff $ENC_ATTLIST $mot_encattlist]
-  set num_missing_encatts [llength $missing_enc_atts]
+  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]
   set posnum 0
 
   # Decide if a motor configuration should be generated.
-  if [subset $REQ_ATTLIST $mot_attlist] {
+  if [subset $ALL_ATTRIBUTES $mot_attlist] {
+    set mk_config 1
+  } elseif [subset $REQ_ATTLIST $mot_attlist] {
     set mk_config 1
   } else {
-    if {$num_missing_encatts == 0} {
-      set mk_config 1
-    } else {
-      set mk_config 0
-    }
-  } 
+    set mk_config 0
+  }
 
   # Does this motor have an absolute encoder?
-  if {$num_missing_encatts == 0} {
+  if {$num_encatts_defined > 0} {
     set absenc 1
   } else {
     set absenc 0
@@ -143,12 +142,28 @@ foreach mn [lsort [array names motor_attcnt]] {
     set mk_missing_atts 0
   }
 
+  if [info exists ${mn}_encatts(cnts_per_x)] {
   # Assume that the values of any attributes we don't recognise are encoder
   # readings for a "posit" motor.
-  set posit_list {}
-  foreach att [setdiff $mot_attlist $ALL_ATTRIBUTES] {
-    incr posnum
-    lappend posit_list "posit_${posnum} \$${mn}_$att"
+    set posit_list {}
+    #TODO Sort posits by value can we take into acount if cnts_per_x is -ve or +ve?
+    set posit_nameval_list {}
+    foreach att [setdiff $mot_attlist $ALL_ATTRIBUTES] {
+      lappend posit_nameval_list "$att [set ${mn}_attarr($att)]"
+    }
+    if {[llength $posit_nameval_list] > 0} {
+      set posnum 0
+      if { [set ${mn}_encatts(cnts_per_x)] > 0} {
+        set sorted_nv_list [join [lsort -integer -increasing -index 1 $posit_nameval_list]]
+      } else {
+        set sorted_nv_list [join [lsort -integer -decreasing -index 1 $posit_nameval_list]]
+      }
+      foreach {att v} $sorted_nv_list {
+        incr posnum
+        lappend posit_list "posit_${posnum} \$${mn}_$att"
+        puts "posit_${posnum} \$${mn}_$att = $v"
+      }
+    }
   }
 
   # Generate a motor configuration and/or a list of missing attributes.
@@ -157,30 +172,48 @@ foreach mn [lsort [array names motor_attcnt]] {
     puts $fhr "Configured $mn"
     incr MOTCFG_CNT
   } else {
-    set missing_atts [lsort [concat $missing_enc_atts [setdiff $::REQ_ATTLIST [array names $mn]]]]
-    puts $fhe "$mn attributes missing: $missing_atts"
+    set missing_motatts [setdiff $MOT_ATTLIST $mot_attlist]
+    set missing_encatts [setdiff $ENC_ATTLIST $encmot_attlist]
+    set num_missing_motatts [llength $missing_motatts]
+    set num_missing_encatts [llength $missing_encatts]
+    if { $num_missing_encatts > 0 && $absenc} {
+      puts $fhe "$mn: found partial config for an axis with an absolute encoder,"
+      puts $fhe "    need: ([concat $missing_motatts $missing_encatts]) to configure the $mn motor with an encoder"
+    } elseif { $num_missing_motatts > 0 } {
+      puts $fhe "$mn: found partial config for an axis,"
+      puts $fhe "    need: ($missing_motatts) to configure $mn motor"
+      puts $fhe "    also need: ($missing_encatts) if $mn has an encoder"
+    }
     incr FAILED_MOTCFG_CNT
     incr ERRCNT
     if {$mk_missing_atts} {
-      set undef_atts [setdiff [lsort "absenchome $SICS_CFG_ATTLIST"] $mot_attlist]
+      set undef_atts [setdiff [lsort "absenchome $SICS_CFG_MOTATTLIST"] $mot_attlist]
       foreach att $undef_atts {
         set attval [gen_attval $mn $att]
         if {$attval != "NOATT"} {
-          lappend missing_attlist "${mn}_$att,$attval"
+          lappend autogen_attarr($mn) "${mn}_$att,$attval"
         }
       }
     }
   }
 }
 
-# If there are any missing attributes then write them to a file.
-if [info exists missing_attlist] {
+# If there are any autogenerated attributes then write them to a file.
+if {[array size autogen_attarr] > 0} {
   set fh [open "missing_attlist.csv" "w"]
-  foreach attval [lsort $missing_attlist] {
-    puts $fh $attval
+  puts "The attributes with default values needed to complete the configuration of the following motors has been written to missing_attlist.csv,"
+  foreach n [lsort [array names autogen_attarr]] {
+    puts -nonewline "$n "
+    foreach attval [lsort $autogen_attarr($n)] {
+      puts $fh $attval
+    }
   }
   close $fh
-  puts "Generated list of missing attributes in missing_attlist.csv.  You should rename this if you want to keep it."
+  puts ""
+  puts "Rename missing_attlist.csv and redo to generate a configuration file which also includes the motors listed above."
+  puts "Eg,"
+  puts "mv missing_attlist.csv sicsmot_attlist.csv"
+  puts "$argv0 $argv sicsmot_attlist.csv"
 }
 
 # The SICS init code calls motor_set_sobj_attributes. It can be redefined in