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/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv

@@ -70,6 +70,15 @@ ap8_D40,32629
 ap8_fwd_enc_lim,47285
 ap8_mc,mc2
 ap8_rev_enc_lim,7189
+att_axis,att
+att_fwd_enc_lim,33394989
+att_mc,mc4
+att_pos1,33373433
+att_pos2,33291514
+att_pos3,33209595
+att_pos4,33127674
+att_pos5,33045750
+att_rev_enc_lim,33021197
 col1_aperture,541261
 col1_axis,A
 col1_fwd_enc_lim,556961
@@ -118,6 +127,14 @@ col8_fwd_enc_lim,563017
 col8_guide,273474
 col8_mc,mc1
 col8_rev_enc_lim,12085
-vs_100X40,741128
+sdh_5a_in,1535698
-vs_axis,A
+sdh_5b_in,3747542
-vs_mc,mc3
+sdh_axis,D
+sdh_fwd_enc_lim,1114132
+sdh_mc,mc4
+sdh_rev_enc_lim,4208665
+vs_axis,B
+vs_fwd_enc_lim,1303768
+vs_glass_in,741128
+vs_mc,mc4
+vs_rev_enc_lim,4663634

site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl

@@ -1,16 +1,16 @@
 #### SICS motor driver configuration ####
-# Generated by: ../../../util/genmotconf.tcl Bilby_Motion_control_axes.csv COLLIMATOR_POSITIONS_D.csv sicsmot_attlist.csv hdb_info.csv
+# Generated by: ../../../util/genmotconf.tcl Bilby_Motion_control_axes.csv Bilby_motion_control_commissioning_checklist.csv sicsmot_attlist.csv hdb_info.csv
-# Date: 2014-01-15T15:36:43
+# Date: 2014-01-24T15:37:28
 # Generated from the following files,
 # file1: Bilby_Motion_control_axes.csv
-# file2: COLLIMATOR_POSITIONS_D.csv
+# file2: Bilby_motion_control_commissioning_checklist.csv
 # file3: sicsmot_attlist.csv
 # file4: hdb_info.csv
 
 # Load motor driver configuration parameters
 set flist [list\
               {Bilby_Motion_control_axes.csv}\
-              {COLLIMATOR_POSITIONS_D.csv}\
+              {Bilby_motion_control_commissioning_checklist.csv}\
               {sicsmot_attlist.csv}\
               {hdb_info.csv}\
           ]
@@ -38,9 +38,9 @@ if {$sim_mode == true} {
 }
 
 if {$sim_mode == false} {
+  MakeAsyncQueue mc4 DMC2280 [dict get $::MOTOR_HOSTPORT MC4 HOST] [dict get $::MOTOR_HOSTPORT MC4 PORT]
   MakeAsyncQueue mc1 DMC2280 [dict get $::MOTOR_HOSTPORT MC1 HOST] [dict get $::MOTOR_HOSTPORT MC1 PORT]
   MakeAsyncQueue mc2 DMC2280 [dict get $::MOTOR_HOSTPORT MC2 HOST] [dict get $::MOTOR_HOSTPORT MC2 PORT]
-  MakeAsyncQueue mc3 DMC2280 [dict get $::MOTOR_HOSTPORT MC3 HOST] [dict get $::MOTOR_HOSTPORT MC3 PORT]
 }
 
 # ap1 configuration
@@ -55,11 +55,11 @@ Motor ap1 $motor_driver_type [params\
   maxDecel $ap1_maxdecel\
   stepsPerX $ap1_steps_per_x\
   posit_count 5\
-  posit_1 $ap1_100X100\
+  posit_1 $ap1_D10\
-  posit_2 $ap1_40X40\
+  posit_2 $ap1_D20\
-  posit_3 $ap1_D10\
+  posit_3 $ap1_D40\
-  posit_4 $ap1_D20\
+  posit_4 $ap1_40X40\
-  posit_5 $ap1_D40\
+  posit_5 $ap1_100X100\
   absEnc 1\
   absEncHome $ap1_absenchome\
   cntsPerX $ap1_cnts_per_x]
@@ -81,11 +81,11 @@ Motor ap2 $motor_driver_type [params\
   maxDecel $ap2_maxdecel\
   stepsPerX $ap2_steps_per_x\
   posit_count 5\
-  posit_1 $ap2_100X100\
+  posit_1 $ap2_D10\
-  posit_2 $ap2_40X40\
+  posit_2 $ap2_D20\
-  posit_3 $ap2_D10\
+  posit_3 $ap2_D40\
-  posit_4 $ap2_D20\
+  posit_4 $ap2_40X40\
-  posit_5 $ap2_D40\
+  posit_5 $ap2_100X100\
   absEnc 1\
   absEncHome $ap2_absenchome\
   cntsPerX $ap2_cnts_per_x]
@@ -107,11 +107,11 @@ Motor ap3 $motor_driver_type [params\
   maxDecel $ap3_maxdecel\
   stepsPerX $ap3_steps_per_x\
   posit_count 5\
-  posit_1 $ap3_100X100\
+  posit_1 $ap3_D10\
-  posit_2 $ap3_40X40\
+  posit_2 $ap3_D20\
-  posit_3 $ap3_D10\
+  posit_3 $ap3_D40\
-  posit_4 $ap3_D20\
+  posit_4 $ap3_40X40\
-  posit_5 $ap3_D40\
+  posit_5 $ap3_100X100\
   absEnc 1\
   absEncHome $ap3_absenchome\
   cntsPerX $ap3_cnts_per_x]
@@ -133,11 +133,11 @@ Motor ap4 $motor_driver_type [params\
   maxDecel $ap4_maxdecel\
   stepsPerX $ap4_steps_per_x\
   posit_count 5\
-  posit_1 $ap4_100X100\
+  posit_1 $ap4_D10\
-  posit_2 $ap4_40X40\
+  posit_2 $ap4_D20\
-  posit_3 $ap4_D10\
+  posit_3 $ap4_D40\
-  posit_4 $ap4_D20\
+  posit_4 $ap4_40X40\
-  posit_5 $ap4_D40\
+  posit_5 $ap4_100X100\
   absEnc 1\
   absEncHome $ap4_absenchome\
   cntsPerX $ap4_cnts_per_x]
@@ -159,11 +159,11 @@ Motor ap5 $motor_driver_type [params\
   maxDecel $ap5_maxdecel\
   stepsPerX $ap5_steps_per_x\
   posit_count 5\
-  posit_1 $ap5_100X100\
+  posit_1 $ap5_D10\
-  posit_2 $ap5_40X40\
+  posit_2 $ap5_D20\
-  posit_3 $ap5_D10\
+  posit_3 $ap5_D40\
-  posit_4 $ap5_D20\
+  posit_4 $ap5_40X40\
-  posit_5 $ap5_D40\
+  posit_5 $ap5_100X100\
   absEnc 1\
   absEncHome $ap5_absenchome\
   cntsPerX $ap5_cnts_per_x]
@@ -185,11 +185,11 @@ Motor ap6 $motor_driver_type [params\
   maxDecel $ap6_maxdecel\
   stepsPerX $ap6_steps_per_x\
   posit_count 5\
-  posit_1 $ap6_100X100\
+  posit_1 $ap6_D10\
-  posit_2 $ap6_40X40\
+  posit_2 $ap6_D20\
-  posit_3 $ap6_D10\
+  posit_3 $ap6_D40\
-  posit_4 $ap6_D20\
+  posit_4 $ap6_40X40\
-  posit_5 $ap6_D40\
+  posit_5 $ap6_100X100\
   absEnc 1\
   absEncHome $ap6_absenchome\
   cntsPerX $ap6_cnts_per_x]
@@ -211,11 +211,11 @@ Motor ap7 $motor_driver_type [params\
   maxDecel $ap7_maxdecel\
   stepsPerX $ap7_steps_per_x\
   posit_count 5\
-  posit_1 $ap7_100X100\
+  posit_1 $ap7_D10\
-  posit_2 $ap7_40X40\
+  posit_2 $ap7_D20\
-  posit_3 $ap7_D10\
+  posit_3 $ap7_D40\
-  posit_4 $ap7_D20\
+  posit_4 $ap7_40X40\
-  posit_5 $ap7_D40\
+  posit_5 $ap7_100X100\
   absEnc 1\
   absEncHome $ap7_absenchome\
   cntsPerX $ap7_cnts_per_x]
@@ -237,11 +237,11 @@ Motor ap8 $motor_driver_type [params\
   maxDecel $ap8_maxdecel\
   stepsPerX $ap8_steps_per_x\
   posit_count 5\
-  posit_1 $ap8_100X100\
+  posit_1 $ap8_D10\
-  posit_2 $ap8_40X40\
+  posit_2 $ap8_D20\
-  posit_3 $ap8_D10\
+  posit_3 $ap8_D40\
-  posit_4 $ap8_D20\
+  posit_4 $ap8_40X40\
-  posit_5 $ap8_D40\
+  posit_5 $ap8_100X100\
   absEnc 1\
   absEncHome $ap8_absenchome\
   cntsPerX $ap8_cnts_per_x]
@@ -263,8 +263,8 @@ Motor col1 $motor_driver_type [params\
   maxDecel $col1_maxdecel\
   stepsPerX $col1_steps_per_x\
   posit_count 2\
-  posit_1 $col1_aperture\
+  posit_1 $col1_guide\
-  posit_2 $col1_guide\
+  posit_2 $col1_aperture\
   absEnc 1\
   absEncHome $col1_absenchome\
   cntsPerX $col1_cnts_per_x]
@@ -286,8 +286,8 @@ Motor col2 $motor_driver_type [params\
   maxDecel $col2_maxdecel\
   stepsPerX $col2_steps_per_x\
   posit_count 2\
-  posit_1 $col2_aperture\
+  posit_1 $col2_guide\
-  posit_2 $col2_guide\
+  posit_2 $col2_aperture\
   absEnc 1\
   absEncHome $col2_absenchome\
   cntsPerX $col2_cnts_per_x]
@@ -309,8 +309,8 @@ Motor col3 $motor_driver_type [params\
   maxDecel $col3_maxdecel\
   stepsPerX $col3_steps_per_x\
   posit_count 2\
-  posit_1 $col3_aperture\
+  posit_1 $col3_guide\
-  posit_2 $col3_guide\
+  posit_2 $col3_aperture\
   absEnc 1\
   absEncHome $col3_absenchome\
   cntsPerX $col3_cnts_per_x]
@@ -332,8 +332,8 @@ Motor col4 $motor_driver_type [params\
   maxDecel $col4_maxdecel\
   stepsPerX $col4_steps_per_x\
   posit_count 2\
-  posit_1 $col4_aperture\
+  posit_1 $col4_guide\
-  posit_2 $col4_guide\
+  posit_2 $col4_aperture\
   absEnc 1\
   absEncHome $col4_absenchome\
   cntsPerX $col4_cnts_per_x]
@@ -355,8 +355,8 @@ Motor col5 $motor_driver_type [params\
   maxDecel $col5_maxdecel\
   stepsPerX $col5_steps_per_x\
   posit_count 2\
-  posit_1 $col5_aperture\
+  posit_1 $col5_guide\
-  posit_2 $col5_guide\
+  posit_2 $col5_aperture\
   absEnc 1\
   absEncHome $col5_absenchome\
   cntsPerX $col5_cnts_per_x]
@@ -378,8 +378,8 @@ Motor col6 $motor_driver_type [params\
   maxDecel $col6_maxdecel\
   stepsPerX $col6_steps_per_x\
   posit_count 2\
-  posit_1 $col6_aperture\
+  posit_1 $col6_guide\
-  posit_2 $col6_guide\
+  posit_2 $col6_aperture\
   absEnc 1\
   absEncHome $col6_absenchome\
   cntsPerX $col6_cnts_per_x]
@@ -401,8 +401,8 @@ Motor col7 $motor_driver_type [params\
   maxDecel $col7_maxdecel\
   stepsPerX $col7_steps_per_x\
   posit_count 2\
-  posit_1 $col7_aperture\
+  posit_1 $col7_guide\
-  posit_2 $col7_guide\
+  posit_2 $col7_aperture\
   absEnc 1\
   absEncHome $col7_absenchome\
   cntsPerX $col7_cnts_per_x]
@@ -424,8 +424,8 @@ Motor col8 $motor_driver_type [params\
   maxDecel $col8_maxdecel\
   stepsPerX $col8_steps_per_x\
   posit_count 2\
-  posit_1 $col8_aperture\
+  posit_1 $col8_guide\
-  posit_2 $col8_guide\
+  posit_2 $col8_aperture\
   absEnc 1\
   absEncHome $col8_absenchome\
   cntsPerX $col8_cnts_per_x]

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 ENC_ATTLIST [lsort {cnts_per_x fwd_enc_lim rev_enc_lim}]
-set ENCMOT_ATTLIST [lsort [concat $MOT_ATTLIST ENCMOT_ATTLIST]]
+set ENCMOT_ATTLIST [lsort [concat $MOT_ATTLIST $ENC_ATTLIST]]
-set SICS_CFG_ATTLIST [lsort {home fwd_lim rev_lim maxspeed maxaccel maxdecel part units}]
+set SICS_CFG_MOTATTLIST [lsort {home fwd_lim rev_lim maxspeed maxaccel maxdecel part units}]
-set REQ_ATTLIST [lsort [concat $MOT_ATTLIST $SICS_CFG_ATTLIST]]
+set SICS_CFG_ENCMOTATTLIST [lsort [concat absenchome $SICS_CFG_MOTATTLIST]]
-set ALL_ATTRIBUTES [lsort [concat $ENCMOT_ATTLIST $SICS_CFG_ATTLIST]]
+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 encmot_attlist [lsort [array names ${mn}_encatts]]
-  set mot_encattlist [lsort [array names ${mn}_encatts]]
+  set mot_attlist [lsort [concat [array names ${mn}_attarr] [array names ${mn}_encatts]]]
-  set num_encatts [llength $mot_encattlist]
+  set num_encatts_defined [llength $encmot_attlist]
-  set missing_enc_atts [setdiff $ENC_ATTLIST $mot_encattlist]
-  set num_missing_encatts [llength $missing_enc_atts]
   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 0
-      set mk_config 1
+  }
-    } else {
-      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 {}
+    set posit_list {}
-  foreach att [setdiff $mot_attlist $ALL_ATTRIBUTES] {
+    #TODO Sort posits by value can we take into acount if cnts_per_x is -ve or +ve?
-    incr posnum
+    set posit_nameval_list {}
-    lappend posit_list "posit_${posnum} \$${mn}_$att"
+    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]]]]
+    set missing_motatts [setdiff $MOT_ATTLIST $mot_attlist]
-    puts $fhe "$mn attributes missing: $missing_atts"
+    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 there are any autogenerated attributes then write them to a file.
-if [info exists missing_attlist] {
+if {[array size autogen_attarr] > 0} {
   set fh [open "missing_attlist.csv" "w"]
-  foreach attval [lsort $missing_attlist] {
+  puts "The attributes with default values needed to complete the configuration of the following motors has been written to missing_attlist.csv,"
-    puts $fh $attval
+  foreach n [lsort [array names autogen_attarr]] {
+    puts -nonewline "$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

site_ansto/instrument/util/genmotconf_procs.tcl

@@ -23,8 +23,8 @@ proc parse_file {fname fhr fhe} {
         puts $fhr "Add ::${mn}_encatts($matt) = $val"
         set ::${mn}_encatts($matt) $val
       } else {
-        puts $fhr "Add ::${mn}($matt) = $val"
+        puts $fhr "Add ::${mn}_attarr($matt) = $val"
-        set ::${mn}($matt) $val
+        set ::${mn}_attarr($matt) $val
       }
       incr ::motor_attcnt($mn)
       if { $matt == "mc" } {
@@ -106,8 +106,8 @@ puts $fhmc \}
 # @param posnum Number of discrete positions
 # @param posit_list Name of global list of name value pairs, "posit_n pos". Can be empty.
 proc mk_motconf {mot fh absEnc posnum posit_list} {
-  set mc [set ::${mot}(mc)]
+  set mc [set ::${mot}_attarr(mc)]
-  set axis [set ::${mot}(axis)]
+  set axis [set ::${mot}_attarr(axis)]
   set units ${mot}_units
   set hardlowerlim ${mot}_rev_lim
   set hardupperlim ${mot}_fwd_lim