Add a new sct driver for the Watlow RM, based on the Watlow PM driver
This commit is contained in:
Douglas Clowes
@ -1,3 +1,6 @@
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# Temperature Controller driver - Watlow PM
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# Author Douglas Clowes (dcl@ansto.gov.au)
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# Based on ...
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# Define procs in ::scobj::xxx namespace
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# MakeSICSObj $obj SCT_<class>
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# The MakeSICSObj cmd adds a /sics/$obj node. NOTE the /sics node is not browsable.
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@ -0,0 +1,565 @@
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# Temperature Controller driver - Watlow RM
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# Author Douglas Clowes (dcl@ansto.gov.au)
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# Based on the Watlow PM driver
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# Define procs in ::scobj::xxx namespace
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# MakeSICSObj $obj SCT_<class>
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# The MakeSICSObj cmd adds a /sics/$obj node. NOTE the /sics node is not browsable.
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namespace eval ::scobj::watlow_rm {
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# Temperature controllers must have at least the following nodes
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# /tempcont/setpoint
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# /tempcont/sensor/value
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proc debug_log {args} {
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set fd [open "/tmp/watlow_rm.log" a]
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puts $fd "[clock format [clock seconds] -format "%T"] $args"
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close $fd
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}
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proc f_to_c { f_temp } {
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return [expr ($f_temp - 32.0) * (5.0 / 9.0)]
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}
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proc c_to_f { c_temp } {
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return [expr $c_temp * (9.0 / 5.0) + 32.0]
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}
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# issue a command to read a register and expect a value response
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proc getValue {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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sct send "$dev:3:$cmd"
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return $nextState
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}
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# issue a command with a value in the target property of the variable
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proc setValue {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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set par [sct target]
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sct send "$dev:16:$cmd $par"
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debug_log "setValue $dev:16:$cmd $par"
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return $nextState
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}
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proc rdValue {tc_root} {
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set data [sct result]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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}
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default {
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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}
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}
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return idle
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}
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# write a floating point value
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proc setFloat {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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set par [sct target]
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sct send "$dev:1016:$cmd $par"
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debug_log "setFloat $dev:1016:$cmd $par"
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return $nextState
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}
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# request a floating point value
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proc getFloat {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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sct send "$dev:1003:$cmd"
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return $nextState
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}
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# read a floating point value
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proc rdFloat {tc_root} {
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set data [sct result]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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}
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default {
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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}
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}
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return idle
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}
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# write a floating point value as a temperature
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proc setTemp {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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set par [sct target]
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#set par [c_to_f $par]
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sct send "$dev:1016:$cmd $par"
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debug_log "setTemp $dev:1016:$cmd $par"
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return $nextState
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}
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# request a floating point value as a temperature
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proc getTemp {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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sct send "$dev:1003:$cmd"
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return $nextState
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}
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# read a floating point value as a temperature
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proc rdTemp {tc_root} {
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set data [sct result]
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#set data [f_to_c $data]
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switch -glob -- $data {
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"ASCERR:*" {
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sct geterror $data
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}
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default {
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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}
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}
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return idle
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}
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proc getState {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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sct send "$dev:3:$cmd"
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return $nextState
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}
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##
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# @brief Reads the current watlow state and error messages.
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proc rdState {tc_root} {
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set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
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debug_log "rdState $tc_root: driving=$my_driving"
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set val [hval $tc_root/setpoint]
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debug_log "rdState $tc_root: setpoint=$val"
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if {[hpropexists $tc_root/setpoint target]} {
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set tgt [SplitReply [hgetprop $tc_root/setpoint target]]
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debug_log "rdState $tc_root: target=$tgt"
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} else {
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hsetprop $tc_root/setpoint target $val
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set tgt [SplitReply [hgetprop $tc_root/setpoint target]]
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debug_log "rdState $tc_root: initialised target to: target=$tgt"
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}
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if {$my_driving > 0} {
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set temp [hval $tc_root/sensor/value]
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set tol [hval $tc_root/tolerance]
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set lotemp [expr {$tgt - $tol}]
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set hitemp [expr {$tgt + $tol}]
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debug_log "rdState driving $tc_root until $temp in ($lotemp, $hitemp)"
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if {$temp < $lotemp} {
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} elseif {$temp > $hitemp} {
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} else {
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hset $tc_root/status "idle"
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hsetprop $tc_root/setpoint driving 0
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}
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} else {
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if {[hval $tc_root/status] != "idle"} {
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hset $tc_root/status "idle"
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}
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}
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set data [SplitReply [hgetprop $tc_root/setpoint driving]]
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debug_log "rdState $tc_root: result=$data"
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if {[string first "ASCERR:" $data] >=0} {
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sct geterror $data
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} elseif {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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return idle
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}
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proc getHP {tc_root nextState cmd} {
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set data [hval $tc_root/Loop1/power]
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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debug_log "getHP $tc_root $nextState $cmd [sct] $data"
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return idle
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}
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proc getPV {tc_root nextState cmd} {
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set data [hval $tc_root/Loop1/sensor]
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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debug_log "getPV $tc_root $nextState $cmd [sct] $data"
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return idle
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}
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proc getSP {tc_root nextState cmd} {
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set data [hval $tc_root/Loop1/setpoint]
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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debug_log "getSP $tc_root $nextState $cmd [sct] $data"
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return idle
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}
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proc setSP {tc_root nextState cmd} {
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debug_log "setSP $tc_root $nextState $cmd [sct]=[sct target] [hget [sct]]"
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hset $tc_root/Loop1/setpoint [sct target]
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return idle
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}
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proc setPoint {tc_root nextState cmd} {
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set dev "[hval $tc_root/dev_id]"
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set par [sct target]
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if {[sct writestatus] == "start"} {
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# Called by drive adapter
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hset $tc_root/status "busy"
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hsetprop $tc_root/setpoint driving 1
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}
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set par [c_to_f $par]
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sct send "$dev:1016:$cmd $par"
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debug_log "setPoint $dev:1016:$cmd $par"
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return $nextState
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}
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proc noResponse {} {
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return idle
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}
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proc wrtValue {wcmd args} {
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}
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# check that a target is within allowable limits
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proc check {tc_root} {
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set setpoint [sct target]
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set lolimit [hval $tc_root/lowerlimit]
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set hilimit [hval $tc_root/upperlimit]
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if {$setpoint < $lolimit || $setpoint > $hilimit} {
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error "setpoint violates limits"
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}
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return OK
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}
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# Check that the sensor is reading within tolerance of the setpoint.
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# Return 1 or 0 if it is or is not, respectively.
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proc checktol {tc_root currtime timecheck} {
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debug_log "checktol $tc_root $currtime $timecheck"
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set temp [hval $tc_root/sensor/value]
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set lotemp [hval $tc_root/subtemp_warnlimit]
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set hitemp [hval $tc_root/overtemp_warnlimit]
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if { $temp < $lotemp || $temp > $hitemp} {
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hset $tc_root/emon/isintol 0
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return 0
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} else {
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set timeout [hval $tc_root/tolerance/settletime]
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if { ($currtime - $timecheck) > $timeout } {
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hset $tc_root/emon/isintol 1
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}
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return 1
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}
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}
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##
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# @brief Implement the checkstatus command for the drivable interface
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#
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# NOTE: The drive adapter initially sets the writestatus to "start" and will
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# only call this when writestatus!="start"
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proc drivestatus {tc_root} {
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if {[sct driving]} {
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return busy
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} else {
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sct print "drivestatus: idle"
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return idle
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}
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}
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proc halt {tc_root} {
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debug_log "halt $tc_root"
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hset $tc_root/setpoint [hval $tc_root/sensor/value]
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hsetprop $tc_root/setpoint driving 0
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return idle
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}
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##
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# @brief createNode() creates a node for the given nodename with the properties and virtual
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# function names provided
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# @param scobj_hpath string variable holding the path to the object's base node in sics (/sample/tc1)
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# @param sct_controller name of the scriptcontext object (typically sct_xxx_yyy)
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# @param cmdGroup subdirectory (below /sample/tc*/) in which the node is to be created
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# @param varName name of the actual node typically representing one device command
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# @param readable set to 1 if the node represents a query command, 0 if it is not
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# @param writable set to 1 if the node represents a request for a change in settings sent to the device
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# @param drivable if set to 1 it prepares the node to provide a drivable interface
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# @param dataType data type of the node, must be one of none, int, float, text
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# @param permission defines what user group may read/write to this node (is one of spy, user, manager)
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# @param rdCmd actual device query command to be sent to the device
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# @param rdFunc nextState Function to be called after the getValue function, typically rdValue()
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# @param wrCmd actual device write command to be sent to the device
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# @param wrFunc Function to be called to send the wrCmd to the device, typically setValue()
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# @param allowedValues allowed values for the node data - does not permit other
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# @param klass Nexus class name (?)
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# @return OK
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proc createNode {scobj_hpath sct_controller cmdGroup varName readable writable\
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drivable dataType permission rdCmd rdFunc wrCmd\
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wrFunc allowedValues klass} {
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set catch_status [ catch {
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# set ns ::scobj::ls460
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set ns "[namespace current]"
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set nodeName "$scobj_hpath/$cmdGroup/$varName"
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if {1 > [string length $cmdGroup]} {
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set nodeName "$scobj_hpath/$varName"
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}
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debug_log "Creating node $nodeName"
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hfactory $nodeName plain $permission $dataType
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if {$readable > 0} {
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set parts [split "$rdFunc" "."]
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if { [llength $parts] == 2 } {
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set func_name [lindex $parts 0]
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set next_state [lindex $parts 1]
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hsetprop $nodeName read ${ns}::$func_name $scobj_hpath $next_state $rdCmd
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hsetprop $nodeName $next_state ${ns}::$next_state $scobj_hpath
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} else {
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if {$rdFunc == "getPV"} {
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set func_name "$rdFunc"
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} elseif {$rdFunc == "getSP"} {
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set func_name "$rdFunc"
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} elseif {$rdFunc == "getHP"} {
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set func_name "$rdFunc"
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} elseif {$rdFunc == "rdFloat"} {
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set func_name "getFloat"
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} elseif {$rdFunc == "rdTemp"} {
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set func_name "getTemp"
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} else {
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set func_name "getValue"
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}
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hsetprop $nodeName read ${ns}::$func_name $scobj_hpath $rdFunc $rdCmd
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hsetprop $nodeName $rdFunc ${ns}::$rdFunc $scobj_hpath
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}
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set poll_period 30
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if { $readable >= 0 && $readable <= 9 } {
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set poll_period [lindex [list 0 1 2 3 4 5 10 15 20 30] $readable]
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}
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debug_log "Registering node $nodeName for poll at $poll_period seconds"
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$sct_controller poll $nodeName $poll_period
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}
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if {$writable == 1} {
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set parts [split "$wrFunc" "."]
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if { [llength $parts] == 2 } {
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set func_name [lindex $parts 0]
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set next_state [lindex $parts 1]
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hsetprop $nodeName write ${ns}::$func_name $scobj_hpath $next_state $wrCmd
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hsetprop $nodeName $next_state ${ns}::$next_state $scobj_hpath
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} else {
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hsetprop $nodeName write ${ns}::$wrFunc $scobj_hpath noResponse $wrCmd
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hsetprop $nodeName noResponse ${ns}::noResponse
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}
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hsetprop $nodeName writestatus UNKNOWN
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debug_log "Registering node $nodeName for write callback"
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$sct_controller write $nodeName
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}
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switch -exact $dataType {
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"none" { }
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"int" { hsetprop $nodeName oldval -1 }
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"float" { hsetprop $nodeName oldval -1.0 }
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default { hsetprop $nodeName oldval UNKNOWN }
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}
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if {1 < [string length $allowedValues]} {
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hsetprop $nodeName values $allowedValues
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}
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# Drive adapter interface
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if {$drivable == 1} {
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hsetprop $nodeName check ${ns}::check $scobj_hpath
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hsetprop $nodeName driving 0
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hsetprop $nodeName checklimits ${ns}::check $scobj_hpath
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hsetprop $nodeName checkstatus ${ns}::drivestatus $scobj_hpath
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hsetprop $nodeName halt ${ns}::halt $scobj_hpath
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}
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} message ]
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if {$catch_status != 0} {
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return -code error "in createNode $message"
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}
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return OK
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}
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proc mk_sct_watlow_rm {sct_controller klass tempobj dev_id tol} {
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set catch_status [ catch {
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set ns "[namespace current]"
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MakeSICSObj $tempobj SCT_OBJECT
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sicslist setatt $tempobj klass $klass
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sicslist setatt $tempobj long_name $tempobj
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set scobj_hpath /sics/$tempobj
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#
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# These addresses are modbus addresses on the RUI/gateway over two devices
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# The RMC is at address 1 and the modbus offset on the RUI for gateway 1
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# is zero, so these addresses are as specified in the manual.
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# The RMS is at address 2 and the modbus offset on the RUI for gateway 1
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# is 5000, so these addresses have 5000 added to those specified in the manual.
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#
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set deviceCommand {\
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{} setpoint 1 1 1 float user {0} {getSP} {0} {setSP} {}\
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sensor value 1 0 0 float internal {0} {getPV} {0} {} {}\
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{} power 1 0 0 float internal {0} {getHP} {0} {} {}\
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Loop1 setpoint 1 1 0 float user {2500} {rdTemp} {2500} {setTemp} {}\
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Loop1 sensor 1 0 0 float internal {3430} {rdTemp} {3430} {} {}\
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Loop1 PV 1 0 0 float internal {3442} {rdTemp} {3442} {} {}\
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Loop1 power 1 0 0 float internal {2248} {rdFloat} {2248} {} {}\
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Loop1 sensorerror 1 0 0 int internal {3452} {rdValue} {3452} {} {}\
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Loop1 looperror 1 0 0 int internal {2268} {rdValue} {2268} {} {}\
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Analog Input01 1 0 0 float internal {360} {rdTemp} {360} {} {}\
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Analog Input02 1 0 0 float internal {450} {rdTemp} {450} {} {}\
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Analog Input03 1 0 0 float internal {5380} {rdTemp} {5380} {} {}\
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Analog Input04 1 0 0 float internal {5470} {rdTemp} {5470} {} {}\
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Analog Input05 1 0 0 float internal {5560} {rdTemp} {5560} {} {}\
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Analog Input06 1 0 0 float internal {5650} {rdTemp} {5650} {} {}\
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Analog Input07 1 0 0 float internal {5740} {rdTemp} {5740} {} {}\
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Analog Input08 1 0 0 float internal {5830} {rdTemp} {5830} {} {}\
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Analog Input09 1 0 0 float internal {5920} {rdTemp} {5920} {} {}\
|
||||
Analog Input10 1 0 0 float internal {6010} {rdTemp} {6010} {} {}\
|
||||
}
|
||||
|
||||
hfactory $scobj_hpath/sensor plain spy none
|
||||
hfactory $scobj_hpath/Analog plain spy none
|
||||
hfactory $scobj_hpath/Loop1 plain spy none
|
||||
|
||||
foreach {cmdGroup varName readable writable drivable dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand {
|
||||
createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
|
||||
}
|
||||
|
||||
hsetprop $scobj_hpath/sensor/value lowerlimit 0
|
||||
hsetprop $scobj_hpath/sensor/value upperlimit 500
|
||||
hsetprop $scobj_hpath/sensor/value units "C"
|
||||
|
||||
hfactory $scobj_hpath/apply_tolerance plain user int
|
||||
hsetprop $scobj_hpath/apply_tolerance values 0,1
|
||||
hset $scobj_hpath/apply_tolerance 1
|
||||
|
||||
hfactory $scobj_hpath/dev_id plain user int
|
||||
hsetprop $scobj_hpath/dev_id values 0,1,2,3,4,5,6,7,8,9
|
||||
hset $scobj_hpath/dev_id $dev_id
|
||||
|
||||
hfactory $scobj_hpath/tolerance plain user float
|
||||
hsetprop $scobj_hpath/tolerance units "C"
|
||||
hfactory $scobj_hpath/tolerance/settletime plain user float
|
||||
hset $scobj_hpath/tolerance/settletime 5.0
|
||||
hsetprop $scobj_hpath/tolerance/settletime units "s"
|
||||
hset $scobj_hpath/tolerance $tol
|
||||
|
||||
hfactory $scobj_hpath/status plain spy text
|
||||
hset $scobj_hpath/status "idle"
|
||||
hsetprop $scobj_hpath/status values busy,idle
|
||||
|
||||
hfactory $scobj_hpath/device_state plain spy text
|
||||
hsetprop $scobj_hpath/device_state read ${ns}::getState $scobj_hpath rdState "362"
|
||||
hsetprop $scobj_hpath/device_state rdState ${ns}::rdState $scobj_hpath
|
||||
hsetprop $scobj_hpath/device_state oldval UNKNOWN
|
||||
|
||||
hfactory $scobj_hpath/remote_ctrl plain spy text
|
||||
hset $scobj_hpath/remote_ctrl UNKNOWN
|
||||
|
||||
hfactory $scobj_hpath/device_lasterror plain user text
|
||||
hset $scobj_hpath/device_lasterror ""
|
||||
|
||||
hfactory $scobj_hpath/lowerlimit plain mugger float
|
||||
hsetprop $scobj_hpath/lowerlimit units "C"
|
||||
hset $scobj_hpath/lowerlimit 0
|
||||
|
||||
hfactory $scobj_hpath/upperlimit plain mugger float
|
||||
hsetprop $scobj_hpath/upperlimit units "C"
|
||||
hset $scobj_hpath/upperlimit 500
|
||||
|
||||
hfactory $scobj_hpath/emon plain spy none
|
||||
hfactory $scobj_hpath/emon/monmode plain user text
|
||||
hsetprop $scobj_hpath/emon/monmode values idle,drive,monitor,error
|
||||
hset $scobj_hpath/emon/monmode "idle"
|
||||
hfactory $scobj_hpath/emon/isintol plain user int
|
||||
hset $scobj_hpath/emon/isintol 1
|
||||
hfactory $scobj_hpath/emon/errhandler plain user text
|
||||
hset $scobj_hpath/emon/errhandler "pause"
|
||||
|
||||
if {[SplitReply [environment_simulation]]=="false"} {
|
||||
$sct_controller poll $scobj_hpath/device_state 1 halt read
|
||||
}
|
||||
|
||||
::scobj::hinitprops $tempobj
|
||||
hsetprop $scobj_hpath klass NXenvironment
|
||||
::scobj::set_required_props $scobj_hpath
|
||||
foreach {rootpath hpath klass priv} "
|
||||
$scobj_hpath sensor NXsensor spy
|
||||
$scobj_hpath sensor/value sensor user
|
||||
" {
|
||||
hsetprop $rootpath/$hpath klass $klass
|
||||
hsetprop $rootpath/$hpath privilege $priv
|
||||
hsetprop $rootpath/$hpath control true
|
||||
hsetprop $rootpath/$hpath data true
|
||||
hsetprop $rootpath/$hpath nxsave true
|
||||
}
|
||||
hsetprop $scobj_hpath type part
|
||||
hsetprop $scobj_hpath/sensor type part
|
||||
hsetprop $scobj_hpath/sensor/value nxalias tc1_sensor_value
|
||||
hsetprop $scobj_hpath/sensor/value mutable true
|
||||
hsetprop $scobj_hpath/sensor/value sdsinfo ::nexus::scobj::sdsinfo
|
||||
|
||||
hsetprop $scobj_hpath privilege spy
|
||||
::scobj::hinitprops $tempobj setpoint
|
||||
hsetprop $scobj_hpath/setpoint data true
|
||||
if {[SplitReply [environment_simulation]]=="false"} {
|
||||
ansto_makesctdrive ${tempobj}_driveable $scobj_hpath/setpoint $scobj_hpath/sensor/value $sct_controller
|
||||
}
|
||||
} catch_message ]
|
||||
if {$catch_status != 0} {
|
||||
return -code error $catch_message
|
||||
}
|
||||
}
|
||||
namespace export mk_sct_watlow_rm
|
||||
}
|
||||
|
||||
##
|
||||
# @brief Create a Watlow RM temperature controller
|
||||
#
|
||||
# @param name, the name of the temperature controller (eg tc1)
|
||||
# @param IP, the IP address of the device, this can be a hostname, (eg ca5-kowari)
|
||||
# @param port, the IP protocol port number of the device (502 for modbus)
|
||||
# @param _tol (optional), this is the initial tolerance setting
|
||||
proc add_watlow_rm {name IP port dev_id {_tol 5.0}} {
|
||||
set fd [open "/tmp/watlow_rm.log" a]
|
||||
if {[SplitReply [environment_simulation]]=="false"} {
|
||||
puts $fd "makesctcontroller sct_${name} modbus ${IP}:$port"
|
||||
makesctcontroller sct_${name} modbus ${IP}:$port
|
||||
}
|
||||
puts $fd "mk_sct_watlow_rm sct_${name} environment $name $dev_id $_tol"
|
||||
mk_sct_watlow_rm sct_${name} environment $name $dev_id $_tol
|
||||
puts $fd "makesctemon $name /sics/$name/emon/monmode /sics/$name/emon/isintol /sics/$name/emon/errhandler"
|
||||
makesctemon $name /sics/$name/emon/monmode /sics/$name/emon/isintol /sics/$name/emon/errhandler
|
||||
close $fd
|
||||
}
|
||||
|
||||
puts stdout "file evaluation of sct_watlow_rm.tcl"
|
||||
set fd [open "/tmp/watlow_rm.log" w]
|
||||
puts $fd "file evaluation of sct_watlow_rm.tcl"
|
||||
close $fd
|
||||
|
||||
namespace import ::scobj::watlow_rm::*
|
||||
|
||||
#add_watlow_rm watlow_rm 137.157.201.213 502 1 5
|
||||
#add_watlow_rm watlow_rm localhost 30502 1 5
|
||||
Reference in New Issue
Block a user