From 7e1e4e2d45566abf6ef26201a5047523bc686300 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Fri, 3 May 2013 00:36:53 +1000
Subject: [PATCH] Don't allow change of direction if the fermimotor speed != 0.
 Added an "idle" subcommand so the speed can be set to zero without
 delevitating.  Also added alarm reset command.

---
 .../pelican/config/chopper/fermimot.tcl       | 35 ++++++++++++++-----
 1 file changed, 27 insertions(+), 8 deletions(-)

diff --git a/site_ansto/instrument/pelican/config/chopper/fermimot.tcl b/site_ansto/instrument/pelican/config/chopper/fermimot.tcl
index 105c0985..c6acde41 100644
--- a/site_ansto/instrument/pelican/config/chopper/fermimot.tcl
+++ b/site_ansto/instrument/pelican/config/chopper/fermimot.tcl
@@ -307,9 +307,19 @@ namespace eval ::chopper {
     variable ch2_gains
     variable ch3_gains
 
+    set currspeed [hval $hpath/$node/rotation_speed]
+    set currdir [hval $hpath/$node/motdir]
     if {$target >= 0} {
+      if {$currdir != $CW && $currspeed != 0} {
+        clientput "ERROR: Tried to change direction when speed != 0. Set motor to idle first."
+        return -code error
+      }
       set dir $CW
     } else {
+      if {$currdir != $CCW && $currspeed != 0} {
+        clientput "ERROR: Tried to change direction when speed != 0. Set motor to idle first."
+        return -code error
+      }
       set dir $CCW
     }
 
@@ -341,7 +351,7 @@ namespace eval ::chopper {
     }
   }
 
-  proc get_setRefDelay {hpath node addr name {target_ ""}} {
+  proc get_setRefDelay {hpath node addr name {target ""}} {
     global SCode
     if {$target == ""} {
       set delay [hval $hpath/$node/ref_delay]
@@ -379,12 +389,15 @@ namespace eval ::chopper {
 
   proc imot_SRun {hpath node addr name target} {
     global SCode
-    setSpeed $hpath $node $addr $name $target
-    hset $hpath/$node/control/start 1
-    hsetprop $hpath/$node/control timecheck -1
-    set readtime [hgetpropval $hpath read_time]
-    hsetprop $hpath lastupdate $readtime
-    return $SCode(OKOK)
+    set catch_status [ catch {
+      setSpeed $hpath $node $addr $name $target
+      hset $hpath/$node/control/start 1
+      hsetprop $hpath/$node/control timecheck -1
+      set readtime [hgetpropval $hpath read_time]
+      hsetprop $hpath lastupdate $readtime
+      return $SCode(OKOK)
+    } message ]
+    handle_exception $catch_status $message
   }
 
   proc imot_SStatus {hpath node addr name} {
@@ -409,7 +422,7 @@ namespace eval ::chopper {
         set locked $up_to_speed
       } else {
         # PHASE mode
-        set locked [expr $up_to_speed && $phase_locked]
+        set locked $phase_locked
       }
       if {$locked} {
         if {$timecheck == -1} {
@@ -546,6 +559,12 @@ namespace eval ::chopper {
     return $SCode(OKOK)
   }
 
+  proc reset {hpath node addr name} {
+    global SCode
+    hset $hpath/$node/control/reset 1
+    return $SCode(OKOK)
+  }
+
   proc idle {hpath node addr name} {
     global SCode
     hset $hpath/$node/control/idle_toggle 1