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Revert "Anticollider changes from Platypus"

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This reverts commit f47c6fec812eece9f68c7bee2bcc314bcadf32ca.
This commit is contained in:
Douglas Clowes
2014-10-27 15:01:23 +11:00
parent 3bcd3fa0fb
commit 81a425e293
1 changed files with 83 additions and 35 deletions
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118
site_ansto/instrument/config/anticollider/anticollider_common.tcl
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@ -1,10 +1,6 @@
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# 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 {
@ -13,19 +9,54 @@ namespace eval anticollider {
array unset ::anticollider::veto_region
array set ::anticollider::veto_region ""
# Don't show 'acscript' call on error. This is done by the anticollider
# module.
proc handle_acscript_exception {status message args} {
switch $status {
0 {
# TCL_OK, This is raised when you just drop out of the
# bottom of a 'catch' command.
return -code ok
}
1 {
# TCL_ERROR
return -code error "$message: $args"
}
2 {
# TCL_RETURN
return -code return "$message"
}
3 {
# TCL_BREAK
return -code break
}
4 {
# TCL_CONTINUE
return -code continue
}
default {
# Propogate user defined return codes with message
return -code $status "$message"
}
}
}
##
# @brief Load an anticollider script
proc ::anticollider::loadscript {args} {
variable prog
set prog ""
variable veto_rules
set fh [open $::cfPath(anticollider)/[lindex $args 0] RDONLY ]
while {[gets $fh line] >= 0} {
# Skip empty lines and comments
if [regexp {^\s*$|^ *#} $line] {
continue
catch {
set fh [open $::cfPath(anticollider)/[lindex $args 0] RDONLY ]
while {[gets $fh line] >= 0} {
# Skip empty lines and comments
if [regexp {^\s*$|^ *#} $line] {
continue
}
lappend veto_rules $line
}
lappend prog $line
}
catch {
close $fh
}
}
@ -33,7 +64,7 @@ proc ::anticollider::loadscript {args} {
# @brief Compile compile an anticollider declaration into a veto region table
# for the anticollider script.
#
# @param vprog, an anticollider declaration as a list of quote enclosed lines.
# @param veto_rules, an anticollider declaration as a list of quote enclosed lines.
# @return Generates the ::anticollider::veto_region lookup table.
#
# Example\n
@ -44,14 +75,16 @@ proc ::anticollider::loadscript {args} {
# for sphi forbid { {0 5} {10 15} } when schi in { {5 10} {15 20} }\n
# forbid {-inf 5} when mtth in {0 10} for sphi\n
# forbid {0 10} for samx whenall { samrot in {0 5} samy in {0 15} }\n
proc ::anticollider::genveto {vprog} {
proc ::anticollider::genveto {veto_rules} {
variable veto_region
array unset veto_region
set lnum 1
foreach line $vprog {
foreach line $veto_rules {
array unset vp
array set vp $line
clientput "::anticollider::veto_rule: $line"
if [info exists vp(whenall)] {
foreach {mot in range} $vp(whenall) {
# if {[llength [join $range]] != 2} {
@ -88,16 +121,14 @@ 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 +147,6 @@ 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 $row 2]"
}
}
@ -126,17 +156,14 @@ proc ::anticollider::acscript {args} {
if {$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 $obstrange] {
@ -144,7 +171,6 @@ proc ::anticollider::acscript {args} {
if {$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)"
}
@ -156,8 +182,9 @@ proc ::anticollider::acscript {args} {
}
}
}
anticollision add 0 $regmot $target
}
} message ]
handle_exception $catch_status $message
}
##
@ -166,16 +193,37 @@ proc ::anticollider::init {} {
variable evp
variable veto_region
if [ catch {
::anticollider::genveto $::anticollider::prog
set catch_status [ catch {
if { ![info exists ::anticollider::veto_rules] } {
return
}
clientput Load anticollider rules:
if { [info procs ::anticollider::load_acrules] == "::anticollider::load_acrules" } {
::anticollider::load_acrules
}
::anticollider::genveto $::anticollider::veto_rules
foreach motor [array names veto_region] {
anticollision register $motor
}
} message ] {
clientput [info level 0] ERROR: $message
if {$::errorCode=="NONE"} {return $message}
return -code error $message
}
} message ]
handle_exception $catch_status $message
}
lappend ::anticollider::scripts ::anticollider::veto_region_acscript
proc ::anticollider::acscript {args} {
set catch_status [ catch {
if {[::anticollider::enable $args] == "false"} {
return
} else {
foreach {regmot target} $args {
anticollision add 0 $regmot $target
}
}
foreach script $::anticollider::scripts {
$script {*}$args
}
} message ]
handle_acscript_exception $catch_status $message
}
publish ::anticollider::acscript user