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Refactor anticollision script so that we can add more scripts to the anticollision module.

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This commit is contained in:
Ferdi Franceschini
2014-01-30 12:53:49 +11:00
committed by Ferdi Franceschini
parent 901c6603fb
commit 64870e7bc8
1 changed files with 20 additions and 14 deletions
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34
site_ansto/instrument/config/anticollider/anticollider_common.tcl
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@@ -3,8 +3,6 @@
# TODO Handle sequencing when simultaneously moving multiple axes
# TODO Handle functional dependencies (just write your own tcl script)
# or get the generic acscript to call a user proc
# FIXME The anticollider module does not report the error messages from the
# anticollision script, we currently get around this by using broadcast.
AntiCollisionInstall
namespace eval anticollider {
@@ -88,16 +86,14 @@ proc ::anticollider::enable {args} {
#
# The ::anticollider::veto_region is a hash indexed by the names of the motors
# which have been registered with the anticollision module.
proc ::anticollider::acscript {args} {
proc ::anticollider::veto_region_acscript {args} {
variable veto_region
if {[::anticollider::enable $args] == "false"} {
foreach {regmot target} $args {
anticollision add 0 $regmot $target
}
return
}
set catch_status [ catch {
foreach {regmot target} $args {
if { ! [info exists veto_region($regmot)] } {
continue
}
foreach row $veto_region($regmot) {
if { [lindex $row 1] == "@and"} {
set forbid [lindex $row 0]
@@ -116,7 +112,6 @@ proc ::anticollider::acscript {args} {
} else {
foreach {min max} $forbid {}
if {$min <= $target && $target <= $max} {
broadcast "ERROR:The range ($forbid) is forbidden for $regmot when [lindex $row 2]"
error "ERROR:The range ($forbid) is forbidden for $regmot when [lindex $row 2]"
}
}
@@ -126,17 +121,14 @@ proc ::anticollider::acscript {args} {
if {$obstrange == "@all"} {
foreach {min max} [join $forbidden_range] {
if {$min <= $target && $target <= $max} {
broadcast "ERROR: $regmot target ($target) is in the forbidden region ($forbidden_range)"
error "ERROR: $regmot target ($target) is in the forbidden region ($forbidden_range)"
}
}
} else {
broadcast "ERROR: veto table must use @all with @any"
error "ERROR: veto table must use @all with @any"
}
} else {
if {$obstrange == "@all"} {
broadcast "ERROR: veto table must use @any with @all"
error "ERROR: veto table must use @any with @all"
} else {
foreach {lower upper} [join $obstrange] {
@@ -144,7 +136,6 @@ proc ::anticollider::acscript {args} {
if {$lower <= $pos && $pos <= $upper} {
foreach {min max} [join $forbidden_range] {
if {$min <= $target && $target <= $max} {
broadcast "ERROR:The range $min to $max is forbidden for $regmot when $obstmot is in this region ($obstrange)"
error "ERROR:The range $min to $max is forbidden for $regmot when $obstmot is in this region ($obstrange)"
}
@@ -158,6 +149,8 @@ proc ::anticollider::acscript {args} {
}
anticollision add 0 $regmot $target
}
} message ]
handle_exception $catch_status $message
}
##
@@ -178,5 +171,18 @@ proc ::anticollider::init {} {
}
}
proc ::anticollider::acscript {args} {
set catch_status [ catch {
if {[::anticollider::enable $args] == "false"} {
foreach {regmot target} $args {
anticollision add 0 $regmot $target
}
return
}
::anticollider::veto_region_acscript {*}$args
} message ]
handle_exception $catch_status $message
}
publish ::anticollider::acscript user
anticollision script ::anticollider::acscript