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genmotconf.tcl now sorts the posit_n parameters by value.

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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.
This commit is contained in:
Ferdi Franceschini
2014-01-30 12:47:18 +11:00
committed by Ferdi Franceschini
parent f6ae3c62f7
commit 4a134cf2d0
4 changed files with 152 additions and 102 deletions
Download Patch File Download Diff File Expand all files Collapse all files

23
site_ansto/instrument/bilby/config/motors/COLLIMATOR_POSITIONS_D.csv → site_ansto/instrument/bilby/config/motors/Bilby_motion_control_commissioning_checklist.csv
View File

@@ -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
vs_axis,A
vs_mc,mc3
sdh_5a_in,1535698
sdh_5b_in,3747542
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
1 ap1_100X100 110608
70 ap8_fwd_enc_lim 47285
71 ap8_mc mc2
72 ap8_rev_enc_lim 7189
73 att_axis att
74 att_fwd_enc_lim 33394989
75 att_mc mc4
76 att_pos1 33373433
77 att_pos2 33291514
78 att_pos3 33209595
79 att_pos4 33127674
80 att_pos5 33045750
81 att_rev_enc_lim 33021197
82 col1_aperture 541261
83 col1_axis A
84 col1_fwd_enc_lim 556961
127 col8_guide 273474
128 col8_mc mc1
129 col8_rev_enc_lim 12085
130 vs_100X40 sdh_5a_in 741128 1535698
131 vs_axis sdh_5b_in A 3747542
132 vs_mc sdh_axis mc3 D
133 sdh_fwd_enc_lim 1114132
134 sdh_mc mc4
135 sdh_rev_enc_lim 4208665
136 vs_axis B
137 vs_fwd_enc_lim 1303768
138 vs_glass_in 741128
139 vs_mc mc4
140 vs_rev_enc_lim 4663634

122
site_ansto/instrument/bilby/config/motors/generated_motor_configuration.tcl
View File

@@ -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
# Date: 2014-01-15T15:36:43
# Generated by: ../../../util/genmotconf.tcl Bilby_Motion_control_axes.csv Bilby_motion_control_commissioning_checklist.csv sicsmot_attlist.csv hdb_info.csv
# Date: 2014-01-24T15:37:28
# 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_2 $ap1_40X40\
posit_3 $ap1_D10\
posit_4 $ap1_D20\
posit_5 $ap1_D40\
posit_1 $ap1_D10\
posit_2 $ap1_D20\
posit_3 $ap1_D40\
posit_4 $ap1_40X40\
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_2 $ap2_40X40\
posit_3 $ap2_D10\
posit_4 $ap2_D20\
posit_5 $ap2_D40\
posit_1 $ap2_D10\
posit_2 $ap2_D20\
posit_3 $ap2_D40\
posit_4 $ap2_40X40\
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_2 $ap3_40X40\
posit_3 $ap3_D10\
posit_4 $ap3_D20\
posit_5 $ap3_D40\
posit_1 $ap3_D10\
posit_2 $ap3_D20\
posit_3 $ap3_D40\
posit_4 $ap3_40X40\
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_2 $ap4_40X40\
posit_3 $ap4_D10\
posit_4 $ap4_D20\
posit_5 $ap4_D40\
posit_1 $ap4_D10\
posit_2 $ap4_D20\
posit_3 $ap4_D40\
posit_4 $ap4_40X40\
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_2 $ap5_40X40\
posit_3 $ap5_D10\
posit_4 $ap5_D20\
posit_5 $ap5_D40\
posit_1 $ap5_D10\
posit_2 $ap5_D20\
posit_3 $ap5_D40\
posit_4 $ap5_40X40\
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_2 $ap6_40X40\
posit_3 $ap6_D10\
posit_4 $ap6_D20\
posit_5 $ap6_D40\
posit_1 $ap6_D10\
posit_2 $ap6_D20\
posit_3 $ap6_D40\
posit_4 $ap6_40X40\
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_2 $ap7_40X40\
posit_3 $ap7_D10\
posit_4 $ap7_D20\
posit_5 $ap7_D40\
posit_1 $ap7_D10\
posit_2 $ap7_D20\
posit_3 $ap7_D40\
posit_4 $ap7_40X40\
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_2 $ap8_40X40\
posit_3 $ap8_D10\
posit_4 $ap8_D20\
posit_5 $ap8_D40\
posit_1 $ap8_D10\
posit_2 $ap8_D20\
posit_3 $ap8_D40\
posit_4 $ap8_40X40\
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_2 $col1_guide\
posit_1 $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_2 $col2_guide\
posit_1 $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_2 $col3_guide\
posit_1 $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_2 $col4_guide\
posit_1 $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_2 $col5_guide\
posit_1 $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_2 $col6_guide\
posit_1 $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_2 $col7_guide\
posit_1 $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_2 $col8_guide\
posit_1 $col8_guide\
posit_2 $col8_aperture\
absEnc 1\
absEncHome $col8_absenchome\
cntsPerX $col8_cnts_per_x]

85
site_ansto/instrument/util/genmotconf.tcl
View File

@@ -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 $mot_attlist] {
set mk_config 1
} else {
if {$num_missing_encatts == 0} {
} elseif [subset $REQ_ATTLIST $mot_attlist] {
set mk_config 1
} else {
set mk_config 0
}
}
# Does this motor have an absolute encoder?
if {$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 {}
#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 $missing_attlist] {
puts "The attributes with default values needed to complete the configuration of the following motors has been written to missing_attlist.csv,"
foreach n [lsort [array names autogen_attarr]] {
puts -nonewline "$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

8
site_ansto/instrument/util/genmotconf_procs.tcl
View File

@@ -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) = $val"
set ::${mn}($matt) $val
puts $fhr "Add ::${mn}_attarr($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 axis [set ::${mot}(axis)]
set mc [set ::${mot}_attarr(mc)]
set axis [set ::${mot}_attarr(axis)]
set units ${mot}_units
set hardlowerlim ${mot}_rev_lim
set hardupperlim ${mot}_fwd_lim