Reworking the Knauer

site_ansto/instrument/config/environment/knauer_pump.sct

@@ -10,7 +10,7 @@ driver knauer_pump = {
 #
   group dummy = {
     type = text; readable = 1; data = false; control = false; nxsave = false;
-    var status = { read_command = 'STATUS?'; read_function = read_status; }
+    var status = { read_command = 'STATUS?'; read_function = read_status; property real_data = ' '; }
     var glp = { read_command = 'GLP?'; read_function = read_glp; property real_data = ' '; }
   }
 
@@ -33,69 +33,61 @@ driver knauer_pump = {
       read_command = ' ';
       fetch_function = status_fetch;
     }
-    var volume_pv = {
+    group volume = {
-      type = float;
+      var pval = {
-      readable = 1;
+        type = float;
-      read_command = ' ';
+        readable = 1;
-      fetch_function = volume_fetch;
+        read_command = ' ';
+        fetch_function = volume_fetch;
 #checkrange_function = volume_reject;
-      property 'units' = 'mL';
+        property 'units' = 'mL';
+      }
+      var setp = {
+        type = float;
+        writeable = 1;
+        write_command = ' ';
+        write_function = pump_write;
+        driveable = pump/volume/pval;
+        checkstatus_function = pump_checkstatus;
+        halt_function = pump_halt;
+        lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
+        readable = 1;
+        read_command = ' ';
+        fetch_function = pump_fetch;
+        property 'units' = 'mL';
+        property this_state = 0;
+      }
     }
-    var pump_sp = {
+    group ratio = {
-      type = float;
+      var pval = {
-      writeable = 1;
+        type = text;
-      write_command = ' ';
+        readable = 1; read_command = ' '; fetch_function = ratio_fetch;
-      write_function = pump_write;
+        property 'units' = 'percent';
-      driveable = pump/volume_pv;
+      }
-      checkstatus_function = pump_checkstatus;
+      var setp = {
-      halt_function = pump_halt;
+        type = text;
-      lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
+        value = '25/25/25/25';
-      readable = 1;
+        writeable = 1; write_command = ' '; write_function = ratio_write; checkrange_function = ratio_check;
-      read_command = ' ';
+        property 'units' = 'percent';
-      fetch_function = pump_fetch;
+      }
-      property 'units' = 'mL';
-      property this_state = 0;
     }
-    var volume_sp = {
+    group flow = {
-      type = float;
+      var pval = {
-      writeable = 1;
+        type = float;
-      write_command = ' ';
+        readable = 1; read_command = ' '; fetch_function = flow_fetch;
-      write_function = volume_write;
+        property 'units' = 'mL/min';
-      driveable = pump/volume_pv;
+      }
-      checkstatus_function = volume_checkstatus;
+      var setp = {
-      halt_function = volume_halt;
+        type = float;
-      lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
+        value = 1.0;
-      readable = 1;
+        writeable = 1; write_command = ' '; write_function = flow_write;
-      read_command = ' ';
+        lowerlimit = 0; upperlimit = 10;
-      fetch_function = volume_checkpumping;
+        property 'units' = 'mL/min';
-      property 'units' = 'mL';
+      }
-    }
-    var ratio_pv = {
-      type = text;
-      readable = 1; read_command = ' '; fetch_function = ratios_fetch;
-      property 'units' = 'percent';
-    }
-    var ratio_sp = {
-      type = text;
-      value = '25/25/25/25';
-      writeable = 1; write_command = ' '; write_function = ratios_write; checkrange_function = ratios_check;
-      property 'units' = 'percent';
-    }
-    var flow_pv = {
-      type = float;
-      readable = 1; read_command = ' '; fetch_function = flow_fetch;
-      property 'units' = 'mL/min';
-    }
-    var flow_sp = {
-      type = float;
-      value = 1.0;
-      writeable = 1; write_command = ' '; write_function = flow_write;
-      lowerlimit = 0; upperlimit = 10;
-      property 'units' = 'mL/min';
     }
   }
 
-  group stuff = {
+  group grp_stuff = {
     readable = 600;
     type = text;
     data = false; control = false; nxsave = false;
@@ -124,7 +116,7 @@ driver knauer_pump = {
     var 'units' = { read_command = 'UNITS?'; }
     var valves = { read_command = 'VALVES?'; }
   }
-  group glp = {
+  group grp_glp = {
     type = text;
     readable = 1;
     fetch_function = fetch_from_glp;
@@ -142,7 +134,7 @@ driver knauer_pump = {
     var pump_pwrhi = { read_command = '12'; }
     var pump_pwrlo = { read_command = '13'; }
   }
-  group status = {
+  group grp_status = {
     type = text;
     readable = 1;
     fetch_function = fetch_from_status;
@@ -167,6 +159,24 @@ driver knauer_pump = {
     var error_in = { read_command = '19'; }
   }
 
+  #
+  # Ensure the pump starts up in REMOTE mode
+  #
+  code mkDriver = {%%
+    hset ${scobj_hpath}/pump/remote 1
+  %%}
+  #
+  # These functions handle the real_data returned by the pump for the GLP? command
+  #
+  code read_glp = {%%
+    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"
+    }
+  %%}
+
   code fetch_from_glp = {%%
     set index ${cmd_str}
     set data [hgetpropval ${tc_root}/dummy/glp real_data]
@@ -179,6 +189,15 @@ driver knauer_pump = {
     set cmd "@@NOSEND@@"
   %%}
 
+  #
+  # These functions handle the real_data returned by the pump for the STATUS? command
+  #
+  code read_status = {%%
+    set dlist [split [lindex [split ${data} ":"] 1] ","]
+    sct real_data "[join [lrange ${dlist} 0 end] ,]"
+    set data "Hidden in real_data property"
+  %%}
+
   code fetch_from_status = {%%
     set index ${cmd_str}
     set data [hgetpropval ${tc_root}/dummy/status real_data]
@@ -191,19 +210,9 @@ driver knauer_pump = {
     set cmd "@@NOSEND@@"
   %%}
 
-  code read_glp = {%%
+  #
-    if { [string equal -nocase -length 6 ${data} "ERROR:"] } {
+  # Decode the status from the real_data to PUMPING if it is pumping else IDLE
-    } else {
+  #
-      set dlist [split [lindex [split ${data} ":"] 1] ","]
-      sct real_data "[join [lrange ${dlist} 0 end] ,]"
-      set data "Hidden in real_data property"
-    }
-  %%}
-  code read_status = {%%
-    set dlist [split [lindex [split ${data} ":"] 1] ","]
-    sct real_data "[join [lrange ${dlist} 0 end] ,]"
-    set data "Hidden in real_data property"
-  %%}
   code status_fetch = {%%
     set index 1
     set data [hgetpropval ${tc_root}/dummy/status real_data]
@@ -216,11 +225,19 @@ driver knauer_pump = {
       sct result "IDLE"
     }
   %%}
+
+  #
+  # Decode the state from the real_data to one of the documented strings
+  #
   code state_fetch = {%%
     set index 1
     set data [hgetpropval ${tc_root}/dummy/status real_data]
     set dlist [split ${data} ","]
-    set state_code [lindex ${dlist} ${index}]
+    if { [llength ${dlist}] > ${index} } {
+      set state_code [lindex ${dlist} ${index}]
+    } else {
+      set state_code "0"
+    }
     set cmd "@@NOSEND@@"
     if { ${state_code} < 0 || ${state_code} > 9 } {
       sct geterror "Invalid device_state ${state_code}"
@@ -239,16 +256,17 @@ driver knauer_pump = {
     sct result [lindex ${slist} ${state_code}]
   %%}
 
-  code halt = {%%
+  #
-    set rlist [hval ${tc_root}/pump/ratio_sp]
+  #
-    set ratio_tgt [join [split ${rlist} /] ,]
-    set cmd "RAMP:0,0,${ratio_tgt},0,0,0,0,0,0,0,0,2"
-  %%}
-
   code flow_fetch = {%%
+    set index 4
     set data [hgetpropval ${tc_root}/dummy/status real_data]
     set dlist [split ${data} ","]
-    set flow_pv [lindex ${dlist} 4]
+    if { [llength ${dlist}] > ${index} } {
+      set flow_pv [lindex ${dlist} 4]
+    } else {
+      set flow_pv 0.0
+    }
     sct result [expr {0.001 * ${flow_pv}}]
     set cmd "@@NOSEND@@"
   %%}
@@ -264,7 +282,9 @@ driver knauer_pump = {
     }
   %%}
 
-  code ratios_check = {%%
+  #
+  #
+  code ratio_check = {%%
     set rlist [split ${setpoint} /]
     if { [llength ${rlist}] != 4 } {
       sct geterror "${setpoint} has [llength ${rlist}] components, needs 4"
@@ -277,14 +297,14 @@ driver knauer_pump = {
     }
   %%}
 
-  code ratios_fetch = {%%
+  code ratio_fetch = {%%
     set data [hgetpropval ${tc_root}/dummy/status real_data]
     set dlist [split ${data} ","]
     set ratio_vals "[lindex ${dlist} 5]/[lindex ${dlist} 6]/[lindex ${dlist} 7]/[lindex ${dlist} 8]"
     sct result ${ratio_vals}
     set cmd "@@NOSEND@@"
   %%}
-  code ratios_write = {%%
+  code ratio_write = {%%
     set data [sct target]
     set cmd "@@NOSEND@@"
     set nextState idle
@@ -296,6 +316,8 @@ driver knauer_pump = {
     }
   %%}
 
+  #
+  #
   code remote_read = {%%
     if { [string equal -length 7 ${data} "REMOTE:"] } {
       set data [lindex [split ${data} :] 1]
@@ -313,6 +335,8 @@ driver knauer_pump = {
     }
   %%}
 
+  #
+  #
   code volume_fetch = {%%
     set data [hgetpropval ${tc_root}/dummy/glp real_data]
     set dlist [split ${data} ","]
@@ -351,8 +375,8 @@ driver knauer_pump = {
 
   code pump_fetch = {%%
     if { [sct this_state] > 0 } {
-      set flow_tgt [expr {int(1000.0 * [hval ${tc_root}/pump/flow_sp])}]
+      set flow_tgt [expr {int(1000.0 * [hval ${tc_root}/pump/flow/setp])}]
-      set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
+      set ratio_tgt [join [split [hval ${tc_root}/pump/ratio/setp] /] ,]
       set time_tgt [expr {int(60000.0 * 1000.0 * [sct target] / ${flow_tgt})}]
       set time_1 [expr {${time_tgt} - 500}]
       set time_2 [expr {${time_tgt} + 500}]