Create fake DMC2280 controllers.

r1138 | ffr | 2006-10-13 09:06:05 +1000 (Fri, 13 Oct 2006) | 2 lines
2006-10-13 09:06:05 +10:00
parent fdd815680f
commit 572b77fac2
7 changed files with 380 additions and 0 deletions
--- a/site_ansto/instrument/TEST_SICS/fakeDMC/simAxis.tcl
+++ b/site_ansto/instrument/TEST_SICS/fakeDMC/simAxis.tcl
@@ -0,0 +1,108 @@
+# $Revision: 1.1 $
+# $Date: 2006-10-12 23:06:05 $
+# Author: Ferdi Franceschini (ffr@ansto.gov.au)
+# Last revision by: $Author: ffr $
+
+# Requires a configuration array for each axis that you want to simulate.
+# eg
+#array set B [list AC 25000 TP 7827107 TD 25000 PA 25000 stepsPerX 25000 cntsPerX 8192 DC 25000 SP 25000]
+# The mkSimAxes.tcl script creates files with arrays like the example above.
+
+# Substitutes position values for _TDx and _TPx
+# then evaluates the expression.
+proc evaluate {args} {
+  regsub -all {_T[DP][ABCDEFGH]} $args {[eval [parse &]]} expression;
+  regsub -all {\d+} $expression {&.0} expression;
+  return [uplevel #0 expr $expression];
+}
+
+proc dmset {cmd axis args} {
+  set num [scan $args {%d} val];
+  if {$num == 1} {
+    set val $args;
+  } else {
+    set val [evaluate $args]
+  }
+  if {[string first $cmd "PA SP AC DC"] != -1} {
+    uplevel #0 set ${axis}($cmd) $val;
+  } else {
+    uplevel #0 $cmd $axis $val;
+  }
+}
+
+proc dmget {cmd axis} {
+ uplevel #0 set ${axis}($cmd)
+}
+
+proc dmcall {cmd paxis} {
+  upvar $paxis axis;
+  uplevel #0 eval $cmd $paxis
+}
+
+proc DP {axis val} {
+    uplevel #0 eval set ${axis}(TD) $val
+}
+proc TS {axis} {
+    uplevel #0 eval set ${axis}(TS)
+}
+
+proc SH {args} {}
+proc MO {args} {}
+
+proc BG {_axis} {
+  upvar #0 $_axis axis;
+  set axis(TS) 140; # moving, limit switches open
+  set timeStep 0.1; # seconds
+  set target $axis(PA);
+  set diff [expr $target - $axis(TD)];
+  set sign [expr ($axis(PA) - $axis(TD)) < 0 ? -1 : 1];
+  set step [expr $sign * $timeStep * $axis(SP) ];
+  if {[expr abs($diff) < abs($step)]} {
+    set step $diff;
+    set timeStep [expr abs($step / $axis(SP))];
+  }
+  every [expr round($timeStep * 1000)] "nextstep $_axis $step $target"
+
+#  set diff [expr $target - $axis(TD)];
+#  set mult [expr $axis(cntsPerX).0/$axis(stepsPerX)];
+#  set axis(TP) [expr round($diff*$mult + $axis(TP))];
+#  set axis(TD) $target;
+}
+
+# Don't handle _XQ _HX
+proc MG {msg} {
+# If msg starts with _ then return val for axis
+  if {[string index $msg 0] == "_"} {
+    return [eval [parse $msg]];
+  } else {
+    return $msg;
+  }
+}
+
+
+proc every {ms body} {
+  if [eval $body] {
+    after $ms [list every $ms $body];
+  }
+  return;
+}
+
+proc nextstep {paxis step target} {
+  upvar #0 $paxis axis;
+  set mult [expr $axis(cntsPerX).0/$axis(stepsPerX)];
+  set axis(TP) [expr $step * $mult + $axis(TP)];
+  set axis(TD) [expr $axis(TD) + $step];
+  if {[expr abs($axis(TD) - $target.0)] < 0.5} {
+    set axis(TS) 44; # Stopped, limit switches open
+    return 0;
+  } elseif {[expr abs($target - $axis(TD)) < abs($step)]} {
+    set diff [expr $target - $axis(TD)];
+    set axis(TP) [expr round($diff*$mult + $axis(TP))];
+    set axis(TD) $target;
+    set axis(TS) 44; # Stopped, limit switches open
+    return 0;
+  } else {
+    return 1;
+  }
+}
+