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Regen sct drivers with async and logging changes

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This commit is contained in:
Douglas Clowes
2014-05-16 10:22:58 +10:00
parent 86673f6a8f
commit 81ed966092
7 changed files with 624 additions and 484 deletions
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113
site_ansto/instrument/bilby/config/motors/sct_tank.tcl
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@@ -3,13 +3,14 @@
#
namespace eval ::scobj::tank {
set debug_threshold 0
set debug_threshold 5
}
proc ::scobj::tank::debug_log {debug_level debug_string} {
proc ::scobj::tank::debug_log {tc_root debug_level debug_string} {
set catch_status [ catch {
if {${debug_level} >= ${::scobj::tank::debug_threshold}} {
set fd [open "/tmp/tank.log" "a"]
set debug_threshold [hgetpropval ${tc_root} debug_threshold]
if {${debug_level} >= ${debug_threshold}} {
set fd [open "/tmp/tank_[basename ${tc_root}].log" "a"]
set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
puts ${fd} "${line}"
close ${fd}
@@ -17,10 +18,19 @@ proc ::scobj::tank::debug_log {debug_level debug_string} {
} catch_message ]
}
proc ::scobj::tank::sics_log {debug_level debug_string} {
set catch_status [ catch {
set debug_threshold ${::scobj::tank::debug_threshold}
if {${debug_level} >= ${debug_threshold}} {
sicslog "::scobj::tank::${debug_string}"
}
} catch_message ]
}
# check function for hset change
proc ::scobj::tank::checkrange {tc_root} {
set catch_status [ catch {
debug_log 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
set setpoint [sct target]
if { [hpropexists [sct] lowerlimit] } {
set lolimit [sct lowerlimit]
@@ -34,7 +44,7 @@ proc ::scobj::tank::checkrange {tc_root} {
# upperlimit not set, use target
set hilimit [sct target]
}
# hook code goes here
# checkrange hook code goes here
if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
}
@@ -46,13 +56,13 @@ proc ::scobj::tank::checkrange {tc_root} {
# function to request the read of a parameter on a device
proc ::scobj::tank::getValue {tc_root nextState cmd_str} {
set catch_status [ catch {
debug_log 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
debug_log ${tc_root} 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set cmd "${cmd_str}"
# hook code goes here
debug_log 1 "getValue sct send ${cmd}"
# getValue hook code goes here
debug_log ${tc_root} 1 "getValue sct send ${cmd}"
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
sct send "${cmd}"
}
@@ -64,8 +74,8 @@ proc ::scobj::tank::getValue {tc_root nextState cmd_str} {
# function to check the write parameter on a device
proc ::scobj::tank::noResponse {tc_root} {
set catch_status [ catch {
debug_log 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
# hook code goes here
debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
# noResponse hook code goes here
return "idle"
} catch_message ]
handle_exception ${catch_status} ${catch_message}
@@ -74,7 +84,7 @@ proc ::scobj::tank::noResponse {tc_root} {
# function to parse the read of a parameter on a device
proc ::scobj::tank::read_switch {tc_root} {
set catch_status [ catch {
debug_log 1 "read_switch tc_root=${tc_root} sct=[sct] result=[sct result]"
debug_log ${tc_root} 1 "read_switch tc_root=${tc_root} sct=[sct] result=[sct result]"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
@@ -85,7 +95,7 @@ proc ::scobj::tank::read_switch {tc_root} {
sct geterror "${data}"
error "[sct geterror]"
}
# hook code starts
# read_switch hook code starts
if { [string equal -nocase -length 1 "${data}" "?"] } {
sct geterror "Galil error in: '${data}'"
} else {
@@ -104,13 +114,13 @@ proc ::scobj::tank::read_switch {tc_root} {
sct geterror "Syntax error in: '${data}'=>'${data_list}'"
}
}
# hook code ends
# read_switch hook code ends
if { [hpropexists [sct] geterror] } {
debug_log 1 "[sct] error: [sct geterror]"
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
error "[sct geterror]"
}
if { ${data} != [sct oldval] } {
debug_log 1 "[sct] changed to new:${data}, from old:[sct oldval]"
debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
sct oldval ${data}
sct update ${data}
sct utime readtime
@@ -123,19 +133,19 @@ proc ::scobj::tank::read_switch {tc_root} {
# function to write a parameter value on a device
proc ::scobj::tank::setValue {tc_root nextState cmd_str} {
set catch_status [ catch {
debug_log 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
debug_log ${tc_root} 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set par [sct target]
set cmd "${cmd_str}${par}"
# hook code goes here
# setValue hook code goes here
if { [hpropexists [sct] driving] } {
if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
sct driving 1
}
}
debug_log 1 "setValue sct send ${cmd}"
debug_log ${tc_root} 1 "setValue sct send ${cmd}"
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
sct send "${cmd}"
}
@@ -144,8 +154,8 @@ proc ::scobj::tank::setValue {tc_root nextState cmd_str} {
handle_exception ${catch_status} ${catch_message}
}
proc ::scobj::tank::mk_sct_tank { sct_controller name } {
debug_log 1 "mk_sct_tank for ${name}"
proc ::scobj::tank::mkDriver { sct_controller name } {
::scobj::tank::sics_log 9 "::scobj::tank::mkDriver for ${name}"
set ns "[namespace current]"
set catch_status [ catch {
@@ -218,63 +228,71 @@ proc ::scobj::tank::mk_sct_tank { sct_controller name } {
${sct_controller} poll ${scobj_hpath}/switches/reverse 1
}
hsetprop ${scobj_hpath} klass instrument
# hook code starts
# hook code ends
hsetprop ${scobj_hpath} debug_threshold 5
# mkDriver hook code starts
# mkDriver hook code ends
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
namespace eval ::scobj::tank {
namespace export debug_threshold
namespace export debug_log
namespace export mk_sct_tank
namespace export sics_log
namespace export mkDriver
}
proc add_tank {name IP port} {
set catch_status [ catch {
set ns "::scobj::tank"
${ns}::debug_log 1 "add_tank ${name} ${IP} ${port}"
::scobj::tank::sics_log 9 "add_tank ${name} ${IP} ${port}"
if {[SplitReply [motor_simulation]]=="false"} {
if {[string equal -nocase "aqadapter" "${IP}"]} {
${ns}::debug_log 1 "makesctcontroller sct_${name} aqadapter ${port}"
::scobj::tank::sics_log 9 "makesctcontroller sct_${name} aqadapter ${port}"
makesctcontroller sct_${name} aqadapter ${port}
} else {
${ns}::debug_log 1 "makesctcontroller sct_${name} dmc2280 ${IP}:${port}"
::scobj::tank::sics_log 9 "makesctcontroller sct_${name} dmc2280 ${IP}:${port}"
makesctcontroller sct_${name} dmc2280 ${IP}:${port}
}
}
${ns}::debug_log 1 "mk_sct_tank sct_${name} ${name}"
${ns}::mk_sct_tank sct_${name} ${name}
::scobj::tank::sics_log 1 "::scobj::tank::mkDriver sct_${name} ${name}"
::scobj::tank::mkDriver sct_${name} ${name}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
puts stdout "file evaluation of sct_tank.tcl"
::scobj::tank::debug_log 1 "file evaluation of sct_tank.tcl"
::scobj::tank::sics_log 9 "file evaluation of sct_tank.tcl"
proc ::scobj::tank::read_config {} {
set catch_status [ catch {
set ns "::scobj::tank"
${ns}::debug_log 1 "Processing Config"
dict for {k v} $::config_dict {
${ns}::debug_log 1 "Inspecting $k:$v"
if { [dict exists $v "driver"] } {
${ns}::debug_log 1 "Has driver [dict get $v driver]"
if { [dict get $v "driver"] == "tank" } {
${ns}::debug_log 1 "Correct driver, enabled = [dict get $v enabled]"
if { [dict get $v enabled] } {
set IP [dict get $v ip]
set PORT [dict get $v port]
set name [dict get $v name]
MakeAsyncProtocol ${name}_protocol
if { [dict exists $v "terminator"] } {
${name}_protocol sendterminator "[dict get $v "terminator"]"
${name}_protocol replyterminator "[dict get $v "terminator"]"
if { [dict exists $v "asyncqueue"] } {
set asyncqueue [dict get $v "asyncqueue"]
} else {
if { [dict exists $v "asyncprotocol"] } {
set asyncprotocol [dict get $v "asyncprotocol"]
} else {
set asyncprotocol ${name}_protocol
MakeAsyncProtocol ${asyncprotocol}
if { [dict exists $v "terminator"] } {
${asyncprotocol} sendterminator "[dict get $v "terminator"]"
${asyncprotocol} replyterminator "[dict get $v "terminator"]"
}
}
set asyncqueue ${name}_queue
set IP [dict get $v ip]
set PORT [dict get $v port]
MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${IP} ${PORT}
if { [dict exists $v "timeout"] } {
${asyncqueue} timeout "[dict get $v "timeout"]"
}
}
MakeAsyncQueue ${name}_queue ${name}_protocol ${IP} ${PORT}
if { [dict exists $v "timeout"] } {
${name}_queue timeout "[dict get $v "timeout"]"
}
add_tank ${name} "aqadapter" ${name}_queue
add_tank ${name} "aqadapter" ${asyncqueue}
}
}
}
@@ -282,8 +300,9 @@ proc ::scobj::tank::read_config {} {
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
if { [info exists ::config_dict] } {
::scobj::tank::read_config
} else {
::scobj::tank:debug_log 1 "No config dict"
::scobj::tank::sics_log 5 "No config dict"
}