SICS-771 Save name of selected sample aperture and improve nguide command.

site_ansto/instrument/bilby/config/motors/motor_configuration.tcl

@@ -60,10 +60,11 @@ sapmot position_names D2.5 D5 D7.5 D10 D12.5 D15 D17.5 D20 D30 D40
 sapmot precision 0.001
 # TODO implement target
 ::utility::macro::getset text sample_aperture { {target "NONE"} } {
-  return "sample_aperture = [posname sapmot]"
+  return "sample_aperture = [SplitReply [posname sapmot]]"
 }
 sicslist setatt sample_aperture klass sample
 sicslist setatt sample_aperture long_name sample_aperture
+sicslist setatt sample_aperture mutable false
 
 
 ################################################################################
@@ -99,30 +100,74 @@ proc posname {pmot} {
   set first_pos [lindex $positions 0]
   set last_pos [lindex $positions end]
 
-  if {[expr abs($pos - $first_pos)] < $tol} {
+  if { [llength $pnames] != [llength $positions] } { 
-    return [lindex $pnames 0]
+    error "[info level 0]: Name list and position list are not the same size"
-  } elseif {$pos < $first_pos} {
+  } else {
-    return "before_[lindex $pnames 0]"
+    if { [llength $pnames] < 1} {
+      error "[info level 0]: Motor $pmot does not have a list of positions"
+    }
+  }
+  if { [expr abs($pos - $first_pos)] < $tol } {
+    set named_pos [lindex $pnames 0]
+  } elseif {$pos < $first_pos} {
+    set named_pos "before_[lindex $pnames 0]"
   }
-
   if {[expr abs($pos - $last_pos)] < $tol} {
-    return [lindex $pnames end]
+    set named_pos [lindex $pnames end]
   } elseif {$pos > $last_pos} {
-    return "after_[lindex $pnames end]"
+    set named_pos "after_[lindex $pnames end]"
   }
 
   set next_index 1
   foreach name [lrange $pnames 0 end-1] posit [lrange $positions 0 end-1] {
     if {[expr abs($pos - $posit)] <= $tol} {
-      return $name
+      set named_pos $name
+      break
     } elseif {$pos > [expr {$posit + $tol}] && $pos < [expr {[lindex $positions $next_index] - $tol}]} {
-      return "between_${name}_[lindex $pnames $next_index]"
+      set named_pos "between_${name}_[lindex $pnames $next_index]"
+      break
     }
     incr next_index
   }
+  return "$pmot = $named_pos"
 }
 publish posname user
 
+# \brief Is a motor in a named position
+# \param pmot: motor name
+# \param named_pos: Check if motor is at the named position. OPTIONAL
+#
+# If named_pos is empty then return true if the motor is in any named position
+proc inpos {pmot {named_pos "_NONE_"}} {
+  set pos [ SplitReply [$pmot] ]
+  set tol [ SplitReply [$pmot precision] ]
+  set pnames [SplitReply [$pmot position_names]]
+  set positions [SplitReply [$pmot positions]]
+
+  if { [llength $pnames] != [llength $positions] } { 
+    error "[info level 0]: Name list and position list are not the same size"
+  } else {
+    if { [llength $pnames] < 1} {
+      error "[info level 0]: Motor $pmot does not have a list of positions"
+    }
+  }
+
+  if {$named_pos == "_NONE_"} {
+    foreach posit [lrange $positions 0 end] {
+      if {[expr abs($pos - $posit)] <= $tol} {
+        return "true"
+      }
+    }
+    return "false"
+  } else {
+    if {$named_pos == [SplitReply [posname $pmot]]} {
+      return "true"
+    } else {
+      return "false"
+    }
+  }
+}
+
 # Length of a guide
 ::utility::mkVar lenguide float user lenguide true instrument true true
 # Space between guides
@@ -143,8 +188,6 @@ publish posname user
 # \return The number of selected guides or an error message
 proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
   set catch_status [ catch {
-    set FINDFIRST 1
-    set COUNT 2
     set CheckDrive false
     set ap_names { D10 D20 D40 S40 R100 }
     array set EMSG {
@@ -154,16 +197,14 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
       misaligned "Misalignment. At least one guide is not in the aperture or guide position"
       apfailed "Failed to set apertures"
     }
-    set guideposit 1
+    set GUIDEPOSIT 1
-    set apposit 2
+    set APPOSIT 2
-    set tol 0.1
+    set MISCONFIGURED false
-    set ng 0
-    set state $FINDFIRST
     set apdrvlist {}
     set pcdrvlist {}
     set ap_target_list {}
     if {$num != "REPORTNUM"} {
-      if {$num >= 0 && $num < 8} {
+      if {$num >= 0 && $num < 7} {
         if { $sel_ap_name == "NONE" || $aprest_name == "NONE" } {
           error "$EMSG(invalidarg): You must provide two aperture arguments"
         } elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } {
@@ -172,88 +213,123 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
           error "$EMSG(invalidarg): $aprest_name should be one of $ap_names"
         }
       }
+      if {$num == 7} {
+        if { $sel_ap_name == "NONE"} {
+          error "$EMSG(invalidarg): You must provide one aperture argument"
+        } elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } {
+          error "$EMSG(invalidarg): $sel_ap_name should be one of $ap_names"
+        }
+      }
       if {$num >= 0 && $num <= 8} {
         set CheckDrive true
-        set last 8
         for {set n 1} {$n <= $num} {incr n } {
-          set currpos [SplitReply [pc$last]]
-          set table_guideunit [SplitReply [pc$last posit2unit $guideposit]]
-          if {[expr {abs($currpos - $table_guideunit)}] > $tol} {
-            lappend pcdrvlist c$last $guideposit
-            lappend apdrvlist ap$last 1
-          }
-          incr last -1
-        }
-        for {set n [expr 8 - $num]} {$n >= 1} {incr n -1} {
           set currpos [SplitReply [pc$n]]
-          set table_guideunit [SplitReply [pc$n posit2unit $apposit]]
+          set table_guideunit [SplitReply [pc$n posit2unit $GUIDEPOSIT]]
+          set tol [SplitReply [pc$n precision]]
           if {[expr {abs($currpos - $table_guideunit)}] > $tol} {
-            lappend pcdrvlist c$n $apposit
+            lappend pcdrvlist pc$n $table_guideunit
+            lappend apdrvlist ap$n 1
+          }
+        }
+        for {set n [expr $num + 1]} {$n <= 8} {incr n} {
+          set currpos [SplitReply [pc$n]]
+          set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]]
+          set tol [SplitReply [pc$n precision]]
+          if {[expr {abs($currpos - $table_appunit)}] > $tol} {
+            lappend pcdrvlist pc$n $table_appunit
           }
         }
         if {[llength $pcdrvlist] > 0 && [llength $apdrvlist] > 0} {
           clientput "drive $apdrvlist"
-          eval "drive $apdrvlist"
+          drive {*}$apdrvlist
         }
         if {[llength $pcdrvlist] > 0} {
           clientput "drive $pcdrvlist"
-          eval "drive $pcdrvlist"
+          drive {*}$pcdrvlist
         }
       } else {
         error "$EMSG(invalidarg)"
       }
       # Select Apertures
       if {$num >= 0 && $num < 8} {
-        set sel_ap_pos [SplitReply [ ap$last ]]
+        set sel_ap ap[expr $num + 1]
-        set req_sel_ap_pos [ SplitReply [ ap$last posit2unit $sel_ap_name ] ]
+        set sel_ap_pos [SplitReply [ $sel_ap ]]
-        set sel_ap_prec [ SplitReply [ap$last precision] ]
+        set req_sel_ap_pos [ SplitReply [ $sel_ap posit2unit $sel_ap_name ] ]
+        set sel_ap_prec [ SplitReply [$sel_ap precision] ]
         if { [expr abs($req_sel_ap_pos - $sel_ap_pos)] > $sel_ap_prec } {
-          lappend ap_target_list ap$last $sel_ap_name
+          lappend ap_target_list $sel_ap $req_sel_ap_pos
         }
-        for {set n [expr $last - 1]} {$n > 0} {incr n -1} {
+        for {set n [expr $num + 2]} {$n <= 8} {incr n} {
           set sel_pos [SplitReply [ ap$n ]]
           set req_pos [ SplitReply [ ap$n posit2unit $aprest_name ] ]
           set prec [ SplitReply [ap$n precision] ]
           if { [expr abs($req_pos - $sel_pos)] > $prec } {
-            lappend ap_target_list ap$n $aprest_name
+            lappend ap_target_list ap$n $req_pos
           }
         }
         if {[llength $ap_target_list] > 0} {
-          pdrive {*}$ap_target_list
+          clientput "drive $ap_target_list"
+          drive {*}$ap_target_list
         }
       }
     }
 
     # Check guide alignment
     set ap_posname_list {}
+    set table_posname_list {}
+    set ng 0
+    # COUNT number of tables in guide position
     for {set n 1} {$n <= 8} {incr n} {
       set currpos [SplitReply [pc$n]]
-      set table_guideunit [SplitReply [pc$n posit2unit $guideposit]]
+      set table_guideunit [SplitReply [pc$n posit2unit $GUIDEPOSIT]]
-      set table_appunit [SplitReply [pc$n posit2unit $apposit]]
+      set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]]
+      set tol [SplitReply [pc$n precision]]
+      if {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
+        incr ng
+      } elseif {[expr {abs($currpos - $table_appunit)}] <= $tol} {
+        # Table in aperture position
+        break
+      } else {
+        set MISCONFIGURED true
+        break
+      }
+    }
+    if {$ng < 8} {
+      # Check first aperture selected after guides
+      set n [ expr $ng + 1]
+      set currpos [SplitReply [pc$n]]
+      set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]]
+      set tol [SplitReply [pc$n precision]]
+      if {[expr {abs($currpos - $table_appunit)}] <= $tol} {
+        if {[inpos ap$n] == "false"} {
+          set MISCONFIGURED true
+        }
+      } else {
+        set MISCONFIGURED true
+      }
+      if {$ng < 7} {
+      # Check that the rest of the apertures are all the same
+        set apn "ap[expr $ng + 2]"
+        if [inpos $apn] {
+          set pname [SplitReply [posname $apn]]
+          for {set n [expr $ng + 3]} {$n <= 8} {incr n} {
+            if { $pname != [SplitReply [posname ap$n]] } {
+              set MISCONFIGURED true
+              break
+            }
+          }
+        } else {
+          set MISCONFIGURED true
+        }
+      }
+    }
 
-      switch $state [subst {
+    for {set n 1} {$n <= 8} {incr n} {
-        $FINDFIRST {
+      lappend table_posname_list [posname pc$n]
-          if {[expr {abs($currpos - $table_appunit)}] <= $tol} {
+      lappend ap_posname_list [posname ap$n]
-            set ap_posname_list {[linsert $ap_posname_list 0 ap${n}=[posname ap$n]]}
+    }
-            continue
+    if {$MISCONFIGURED} {
-          } elseif {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
+      return "nguide = MISCONFIGURED: $ng guides $table_posname_list apertures $ap_posname_list"
-            incr ng
-            set state $COUNT
-          } else {
-            return "$EMSG(misaligned)"
-            break
-          }
-        }
-        $COUNT {
-          if {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
-            incr ng
-          } else {
-          # ERROR There shouldn't be any gaps in the selection
-            return "$EMSG(gaps)"
-            break
-          }
-        }
-      }]
     }
 
     if {$CheckDrive} {
@@ -262,10 +338,9 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
         set drive_ok false
         clientput "$EMSG(drivefailed): Failed to select guides"
       }
-      foreach {ap_mot ap_name} $ap_target_list {
+      foreach {ap_mot target} $ap_target_list {
         set pos [SplitReply [$ap_mot]]
         set tol [SplitReply [$ap_mot precision]]
-        set target [SplitReply [$ap_mot posit2unit $ap_name]]
         if {[expr {abs($pos - $target)}] > $tol} {
           set drive_ok false
           clientput "$EMSG(drivefailed): Apertures off target"
@@ -278,7 +353,7 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
         clientput "nguide finished with errors"
       }
     }
-    return "[lindex [info level 0] 0] = $ng $ap_posname_list"
+    return "[lindex [info level 0] 0] = $ng [lrange $ap_posname_list $ng 8]"
   } message ]
   handle_exception $catch_status $message
 }
@@ -292,7 +367,7 @@ sicslist setatt gs_nguide klass instrument
 sicslist setatt gs_nguide long_name nguide
 
 proc L1 {} {
-    set ng [SplitReply [nguide]]
+    set ng [lrange [nguide] 2 2]
     set lg [SplitReply [lenguide]]
     set sg [SplitReply [spaceguide]]
     set sy [SplitReply [samy]]
@@ -430,7 +505,7 @@ proc Ltof {det} {
     }
     set L1  [SplitReply [L1]]
     set lg  [SplitReply [lenguide]]
-    set ng  [SplitReply [nguide]]
+    set ng  [lrange [nguide] 2 2]
     set sg  [SplitReply [spaceguide]]
     set lch4_pc1 [SplitReply [lch4_pc1]]
     set Lt0 [SplitReply [Lt0]]