From 591c602da2d46d1a58406a9a0f7198453a6c692e Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Fri, 3 Oct 2014 10:17:46 +1000
Subject: [PATCH] Regen SCT drivers

---
 .../config/environment/sct_knauer_pump.tcl    | 123 +++++++++++++++++-
 .../temperature/sct_lakeshore_m370.tcl        | 111 +++++++++-------
 .../temperature/sct_pfeiffer_hg.tcl           |   4 +-
 3 files changed, 180 insertions(+), 58 deletions(-)

diff --git a/site_ansto/instrument/config/environment/sct_knauer_pump.tcl b/site_ansto/instrument/config/environment/sct_knauer_pump.tcl
index d58d4bf4..c92eebee 100644
--- a/site_ansto/instrument/config/environment/sct_knauer_pump.tcl
+++ b/site_ansto/instrument/config/environment/sct_knauer_pump.tcl
@@ -92,7 +92,11 @@ proc ::scobj::knauer_pump::fetch_from_glp {tc_root nextState cmd_str} {
     set index ${cmd_str}
     set data [hgetpropval ${tc_root}/dummy/glp real_data]
     set dlist [split ${data} ","]
-    sct result [lindex ${dlist} ${index}]
+    if { [llength ${dlist}] > ${index} } {
+      sct result [lindex ${dlist} ${index}]
+    } else {
+      sct result ""
+    }
     set cmd "@@NOSEND@@"
 # fetch_from_glp hook code ends
     if { [hpropexists [sct] geterror] } {
@@ -120,7 +124,11 @@ proc ::scobj::knauer_pump::fetch_from_status {tc_root nextState cmd_str} {
     set index ${cmd_str}
     set data [hgetpropval ${tc_root}/dummy/status real_data]
     set dlist [split ${data} ","]
-    sct result [lindex ${dlist} ${index}]
+    if { [llength ${dlist}] > ${index} } {
+      sct result [lindex ${dlist} ${index}]
+    } else {
+      sct result ""
+    }
     set cmd "@@NOSEND@@"
 # fetch_from_status hook code ends
     if { [hpropexists [sct] geterror] } {
@@ -374,9 +382,12 @@ proc ::scobj::knauer_pump::read_glp {tc_root} {
       error "[sct geterror]"
     }
 # read_glp hook code starts
-    set dlist [split [lindex [split ${data} ":"] 1] ","]
-    sct real_data "[join [lrange ${dlist} 0 end] ,]"
-    set data "Hidden in real_data property"
+    if { [string equal -nocase -length 6 ${data} "ERROR:"] } {
+    } else {
+      set dlist [split [lindex [split ${data} ":"] 1] ","]
+      sct real_data "[join [lrange ${dlist} 0 end] ,]"
+      set data "Hidden in real_data property"
+    }
 # read_glp hook code ends
     if { [hpropexists [sct] geterror] } {
       debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
@@ -427,6 +438,77 @@ proc ::scobj::knauer_pump::read_status {tc_root} {
   handle_exception ${catch_status} ${catch_message}
 }
 
+# function to parse the read of a parameter on a device
+proc ::scobj::knauer_pump::remote_read {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "remote_read tc_root=${tc_root} sct=[sct] result=[sct result]"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set data [sct result]
+    set nextState "idle"
+    if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
+      # the protocol driver has reported an error
+      sct geterror "${data}"
+      error "[sct geterror]"
+    }
+# remote_read hook code starts
+    if { [string equal -length 7 ${data} "REMOTE:"] } {
+      set data [lindex [split ${data} :] 1]
+    } else {
+      sct geterror "bad response"
+      error "[sct geterror]"
+    }
+# remote_read hook code ends
+    if { [hpropexists [sct] geterror] } {
+      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
+      error "[sct geterror]"
+    }
+    if { ${data} != [sct oldval] } {
+      debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
+      sct oldval ${data}
+      sct update ${data}
+      sct utime readtime
+    }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# function to write a parameter value on a device
+proc ::scobj::knauer_pump::remote_write {tc_root nextState cmd_str} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "remote_write tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set par [sct target]
+    set cmd "${cmd_str}${par}"
+# remote_write hook code starts
+    if { ${par} == 0 } {
+      set cmd "LOCAL"
+    } else {
+      set cmd "REMOTE"
+    }
+# remote_write hook code ends
+    if { [hpropexists [sct] geterror] } {
+      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
+      error "[sct geterror]"
+    }
+    if { [hpropexists [sct] driving] } {
+      if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
+        sct driving 1
+      }
+    }
+    debug_log ${tc_root} 1 "remote_write sct send ${cmd}"
+    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
+      sct send "${cmd}"
+    }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
 # function to write a parameter value on a device
 proc ::scobj::knauer_pump::setValue {tc_root nextState cmd_str} {
   set catch_status [ catch {
@@ -549,6 +631,7 @@ proc ::scobj::knauer_pump::volume_checkpumping {tc_root nextState cmd_str} {
         set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
         set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
         set nextState noResponse
+        sct driving 0
         sct pumping 0
       }
     }
@@ -621,10 +704,10 @@ proc ::scobj::knauer_pump::volume_fetch {tc_root nextState cmd_str} {
     sct raw_volume ${pump_volume}
     if { [hpropexists [sct] base_volume] } {
       set pump_volume [expr {${pump_volume} - [sct base_volume]}]
-    } else {
+    } elseif { [hpropexists [sct] raw_volume] } {
       sct base_volume [sct raw_volume]
     }
-    sct result ${pump_volume}
+    sct result [format "%.2f" ${pump_volume}]
     set cmd "@@NOSEND@@"
 # volume_fetch hook code ends
     if { [hpropexists [sct] geterror] } {
@@ -673,6 +756,13 @@ proc ::scobj::knauer_pump::volume_write {tc_root nextState cmd_str} {
     set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
     set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,3"
     sct pumping 1
+    set data ${par}
+    if { ${data} != [sct oldval] } {
+      debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
+      sct oldval ${data}
+      sct update ${data}
+      sct utime readtime
+    }
 # volume_write hook code ends
     if { [hpropexists [sct] geterror] } {
       debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
@@ -717,6 +807,7 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
     hsetprop ${scobj_hpath}/dummy/glp mutable true
     hsetprop ${scobj_hpath}/dummy/glp nxsave false
     hsetprop ${scobj_hpath}/dummy/glp oldval UNKNOWN
+    hsetprop ${scobj_hpath}/dummy/glp real_data " "
     hsetprop ${scobj_hpath}/dummy/glp sdsinfo "::nexus::scobj::sdsinfo"
     hsetprop ${scobj_hpath}/dummy/glp type "part"
     hsetprop ${scobj_hpath}/dummy/glp nxalias "${name}_dummy_glp"
@@ -1077,6 +1168,22 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
     hsetprop ${scobj_hpath}/pump/ratio_sp units "percent"
     hsetprop ${scobj_hpath}/pump/ratio_sp nxalias "${name}_pump_ratio_sp"
 
+    hfactory ${scobj_hpath}/pump/remote plain user int
+    hsetprop ${scobj_hpath}/pump/remote read ${ns}::getValue ${scobj_hpath} remote_read {REMOTE?}
+    hsetprop ${scobj_hpath}/pump/remote remote_read ${ns}::remote_read ${scobj_hpath}
+    hsetprop ${scobj_hpath}/pump/remote write ${ns}::remote_write ${scobj_hpath} noResponse {}
+    hsetprop ${scobj_hpath}/pump/remote noResponse ${ns}::noResponse ${scobj_hpath}
+    hsetprop ${scobj_hpath}/pump/remote check ${ns}::checkrange ${scobj_hpath}
+    hsetprop ${scobj_hpath}/pump/remote control true
+    hsetprop ${scobj_hpath}/pump/remote data true
+    hsetprop ${scobj_hpath}/pump/remote mutable true
+    hsetprop ${scobj_hpath}/pump/remote nxsave true
+    hsetprop ${scobj_hpath}/pump/remote oldval 0
+    hsetprop ${scobj_hpath}/pump/remote klass "parameter"
+    hsetprop ${scobj_hpath}/pump/remote sdsinfo "::nexus::scobj::sdsinfo"
+    hsetprop ${scobj_hpath}/pump/remote type "part"
+    hsetprop ${scobj_hpath}/pump/remote nxalias "${name}_pump_remote"
+
     hfactory ${scobj_hpath}/pump/state plain user text
     hsetprop ${scobj_hpath}/pump/state read ${ns}::state_fetch ${scobj_hpath} rdValue { }
     hsetprop ${scobj_hpath}/pump/state rdValue ${ns}::rdValue ${scobj_hpath}
@@ -1145,12 +1252,14 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
     if {[string equal -nocase "${simulation_flag}" "false"]} {
       ${sct_controller} poll ${scobj_hpath}/pump/flow_pv 1
       ${sct_controller} poll ${scobj_hpath}/pump/ratio_pv 1
+      ${sct_controller} poll ${scobj_hpath}/pump/remote 1
       ${sct_controller} poll ${scobj_hpath}/pump/state 1
       ${sct_controller} poll ${scobj_hpath}/pump/status 1
       ${sct_controller} poll ${scobj_hpath}/pump/volume_pv 1
       ${sct_controller} poll ${scobj_hpath}/pump/volume_sp 1
       ${sct_controller} write ${scobj_hpath}/pump/flow_sp
       ${sct_controller} write ${scobj_hpath}/pump/ratio_sp
+      ${sct_controller} write ${scobj_hpath}/pump/remote
       ${sct_controller} write ${scobj_hpath}/pump/volume_sp
     } else {
       ::scobj::knauer_pump::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for knauer_pump"
diff --git a/site_ansto/instrument/config/environment/temperature/sct_lakeshore_m370.tcl b/site_ansto/instrument/config/environment/temperature/sct_lakeshore_m370.tcl
index c959e923..8e6e7de7 100644
--- a/site_ansto/instrument/config/environment/temperature/sct_lakeshore_m370.tcl
+++ b/site_ansto/instrument/config/environment/temperature/sct_lakeshore_m370.tcl
@@ -27,18 +27,19 @@ proc ::scobj::lakeshore_m370::sics_log {debug_level debug_string} {
   } catch_message ]
 }
 
-proc ::scobj::lakeshore_m370::mkDriver { sct_controller name id tol} {
-  ::scobj::lakeshore_m370::sics_log 9 "::scobj::lakeshore_m370::mkDriver ${sct_controller} ${name} ${id} ${tol}"
+proc ::scobj::lakeshore_m370::mkDriver { sct_controller name device_class simulation_flag ip_address tcp_port id tol } {
+  ::scobj::lakeshore_m370::sics_log 9 "::scobj::lakeshore_m370::mkDriver ${sct_controller} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${id} ${tol}"
   set ns "[namespace current]"
   set catch_status [ catch {
 
     MakeSICSObj ${name} SCT_OBJECT user none
 
-    sicslist setatt ${name} klass environment
+    sicslist setatt ${name} klass ${device_class}
     sicslist setatt ${name} long_name ${name}
 
     set scobj_hpath /sics/${name}
-    hsetprop ${scobj_hpath} klass environment
+    hsetprop ${scobj_hpath} klass ${device_class}
+    hsetprop ${scobj_hpath} data true
     hsetprop ${scobj_hpath} debug_threshold 5
 # mkDriver hook code starts
     ::scobj::lakeshore_370::mk_sct_driver $sct_controller environment $name $tol
@@ -51,31 +52,37 @@ proc ::scobj::lakeshore_m370::mkDriver { sct_controller name id tol} {
   handle_exception ${catch_status} ${catch_message}
 }
 
+proc ::scobj::lakeshore_m370::add_driver {name device_class simulation_flag ip_address tcp_port id tol} {
+  set catch_status [ catch {
+    ::scobj::lakeshore_m370::sics_log 9 "::scobj::lakeshore_m370::add_driver ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${id} ${tol}"
+    if {[string equal -nocase "${simulation_flag}" "false"]} {
+      if {[string equal -nocase "aqadapter" "${ip_address}"]} {
+        ::scobj::lakeshore_m370::sics_log 9 "makesctcontroller sct_${name} aqadapter ${tcp_port}"
+        makesctcontroller sct_${name} aqadapter ${tcp_port}
+      } else {
+        ::scobj::lakeshore_m370::sics_log 9 "makesctcontroller sct_${name} std ${ip_address}:${tcp_port}"
+        makesctcontroller sct_${name} std ${ip_address}:${tcp_port}
+      }
+    } else {
+      ::scobj::lakeshore_m370::sics_log 9 "simulation_flag={simulation_flag} => No sctcontroller for lakeshore_m370"
+    }
+    ::scobj::lakeshore_m370::sics_log 1 "::scobj::lakeshore_m370::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${id} ${tol}"
+    ::scobj::lakeshore_m370::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} ${id} ${tol}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
 namespace eval ::scobj::lakeshore_m370 {
   namespace export debug_threshold
   namespace export debug_log
   namespace export sics_log
   namespace export mkDriver
+  namespace export add_driver
 }
 
-proc add_lakeshore_m370 {name IP port id tol} {
-  set catch_status [ catch {
-    ::scobj::lakeshore_m370::sics_log 9 "add_lakeshore_m370 ${name} ${IP} ${port} ${tol}"
-    if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
-      if {[string equal -nocase "aqadapter" "${IP}"]} {
-        ::scobj::lakeshore_m370::sics_log 9 "makesctcontroller sct_${name} aqadapter ${port}"
-        makesctcontroller sct_${name} aqadapter ${port}
-      } else {
-        ::scobj::lakeshore_m370::sics_log 9 "makesctcontroller sct_${name} std ${IP}:${port}"
-        makesctcontroller sct_${name} std ${IP}:${port}
-      }
-    } else {
-      ::scobj::lakeshore_m370::sics_log 9 "[environment_simulation] => No sctcontroller for lakeshore_m370"
-    }
-    ::scobj::lakeshore_m370::sics_log 1 "::scobj::lakeshore_m370::mkDriver sct_${name} ${name} ${id} ${tol}"
-    ::scobj::lakeshore_m370::mkDriver sct_${name} ${name} ${id} ${tol}
-  } catch_message ]
-  handle_exception ${catch_status} ${catch_message}
+proc add_lakeshore_m370 {name ip_address tcp_port id tol} {
+  set simulation_flag "[string tolower [SplitReply [environment_simulation]]]"
+  ::scobj::lakeshore_m370::add_driver ${name} "environment" "${simulation_flag}" ${ip_address} ${tcp_port} "${id}" "${tol}"
 }
 
 clientput "file evaluation of sct_lakeshore_m370.tcl"
@@ -84,42 +91,41 @@ clientput "file evaluation of sct_lakeshore_m370.tcl"
 proc ::scobj::lakeshore_m370::read_config {} {
   set catch_status [ catch {
     set ns "::scobj::lakeshore_m370"
-    dict for {k v} $::config_dict {
-      if { [dict exists $v "implementation"] } {
-        if { !([dict exists $v "name"] && [dict exists $v "enabled"]) } {
+    dict for {k u} $::config_dict {
+      if { [dict exists $u "implementation"] } {
+        set simulation_flag "[string tolower [SplitReply [environment_simulation]]]"
+        set device_class "environment"
+        if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
           continue
         }
-        set enabled [string tolower [dict get $v "enabled"]]
+        set enabled [string tolower [dict get $u "enabled"]]
         if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
           continue
         }
-        set name [dict get $v name]
-        set implementation [dict get $v "implementation"]
+        if { [dict exists $u "simulation_group"] } {
+          set simulation_flag [SplitReply [[string tolower [dict get $u "simulation_group"]]]]
+        }
+        if { [dict exists $u "device_class"] } {
+          set device_class "[dict get $u "device_class"]"
+        }
+        set name [dict get $u name]
+        set implementation [dict get $u "implementation"]
         if { !([dict exists $::config_dict $implementation]) } {
           continue
         }
-        set arg_list [list]
-        foreach arg {id} {
-          if {[dict exists $v $arg]} {
-            lappend arg_list "[dict get $v $arg]"
-          } else {
-            ${ns}::sics_log 9 "Missing configuration value $arg"
-            error "Missing configuration value $arg"
-          }
-        }
         set v [dict get $::config_dict $implementation]
         if { !([dict exists $v "driver"]) } {
           continue
         }
         if { [string equal -nocase [dict get $v "driver"] "lakeshore_m370"] } {
-          if { ![string equal -nocase [SplitReply [environment_simulation]] "false"] } {
+          if { ![string equal -nocase "${simulation_flag}" "false"] } {
             set asyncqueue "null"
-            ${ns}::sics_log 9 "[environment_simulation] => using null asyncqueue"
+            ${ns}::sics_log 9 "simulation_flag=${simulation_flag} => using null asyncqueue"
           } elseif { [dict exists $v "asyncqueue"] } {
             set asyncqueue [dict get $v "asyncqueue"]
             if { [string equal -nocase ${asyncqueue} "sct"] } {
-              set IP [dict get $v ip]
-              set PORT [dict get $v port]
+              set ip_address [dict get $v ip]
+              set tcp_port [dict get $v port]
               }
           } else {
             if { [dict exists $v "asyncprotocol"] } {
@@ -133,25 +139,32 @@ proc ::scobj::lakeshore_m370::read_config {} {
               }
             }
             set asyncqueue ${name}_queue
-            set IP [dict get $v ip]
-            set PORT [dict get $v port]
-            MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${IP} ${PORT}
+            set ip_address [dict get $v ip]
+            set tcp_port [dict get $v port]
+            MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${ip_address} ${tcp_port}
             if { [dict exists $v "timeout"] } {
               ${asyncqueue} timeout "[dict get $v "timeout"]"
             }
           }
-          foreach arg {tol} {
-            if {[dict exists $v $arg]} {
+          set arg_list [list]
+          set missing_list [list]
+          foreach arg {id tol} {
+            if {[dict exists $u $arg]} {
+              lappend arg_list "[dict get $u $arg]"
+            } elseif {[dict exists $v $arg]} {
               lappend arg_list "[dict get $v $arg]"
             } else {
               ${ns}::sics_log 9 "Missing configuration value $arg"
-              error "Missing configuration value $arg"
+              lappend missing_list $arg
             }
           }
+          if { [llength $missing_list] > 0 } {
+              error "$name is missing configuration values $missing_list"
+          }
           if { [string equal -nocase ${asyncqueue} "sct"] } {
-            add_lakeshore_m370 ${name} ${IP} ${PORT} {*}$arg_list
+            ${ns}::add_driver ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port} {*}$arg_list
           } else {
-            add_lakeshore_m370 ${name} "aqadapter" ${asyncqueue} {*}$arg_list
+            ${ns}::add_driver ${name} ${device_class} ${simulation_flag} "aqadapter" ${asyncqueue} {*}$arg_list
           }
         }
       }
diff --git a/site_ansto/instrument/config/environment/temperature/sct_pfeiffer_hg.tcl b/site_ansto/instrument/config/environment/temperature/sct_pfeiffer_hg.tcl
index a9e1ebc6..1176f967 100644
--- a/site_ansto/instrument/config/environment/temperature/sct_pfeiffer_hg.tcl
+++ b/site_ansto/instrument/config/environment/temperature/sct_pfeiffer_hg.tcl
@@ -201,14 +201,14 @@ proc ::scobj::pfeiffer_hg::pid_pressure {tc_root sp pv} {
     set p_value [expr {[sct pid_pvalue] * [sct pid_error]}]
     set d_value [expr {[sct pid_dvalue] * (${pv} - [sct oldval])}]
     sct pid_deriv [sct pid_error]
-    sct pid_integ [expr {[sct pid_integ] + [sct pid_error]}]
+    sct pid_integ [expr {[sct pid_integ] + [sct pid_error] * [sct pid_ivalue]}]
     if { [sct pid_integ] > [sct pid_imax] } {
       sct pid_integ [sct pid_imax]
     }
     if { [sct pid_integ] < -[sct pid_imax] } {
       sct pid_integ -[sct pid_imax]
     }
-    set i_value [expr {[sct pid_ivalue] * [sct pid_integ]}]
+    set i_value [sct pid_integ]
     set pid [expr {${p_value} + ${i_value} + ${d_value}}]
 # pid_pressure hook code starts
     if { [hpropexists [sct] pid_control] } {