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

site_ansto/instrument/config/anticollider/anticollider_common.tcl

@@ -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"} {
+  set catch_status [ catch {
     foreach {regmot target} $args {
-        anticollision add 0 $regmot $target
+      if { ! [info exists veto_region($regmot)]  } {
+        continue
       }
-      return
-    }
-    foreach {regmot target} $args {
       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