Regen sct drivers with async and logging changes
This commit is contained in:
Douglas Clowes
@@ -3,16 +3,17 @@
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#
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namespace eval ::scobj::pfeiffer_hg {
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set debug_threshold 0
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set debug_threshold 5
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if { ![info exists ::scobj::permlink_device_counter]} {
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set ::scobj::permlink_device_counter 0
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}
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}
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proc ::scobj::pfeiffer_hg::debug_log {debug_level debug_string} {
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proc ::scobj::pfeiffer_hg::debug_log {tc_root debug_level debug_string} {
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set catch_status [ catch {
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if {${debug_level} >= ${::scobj::pfeiffer_hg::debug_threshold}} {
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set fd [open "/tmp/pfeiffer_hg.log" "a"]
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set debug_threshold [hgetpropval ${tc_root} debug_threshold]
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if {${debug_level} >= ${debug_threshold}} {
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set fd [open "/tmp/pfeiffer_hg_[basename ${tc_root}].log" "a"]
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set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
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puts ${fd} "${line}"
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close ${fd}
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@@ -20,10 +21,19 @@ proc ::scobj::pfeiffer_hg::debug_log {debug_level debug_string} {
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} catch_message ]
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}
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proc ::scobj::pfeiffer_hg::sics_log {debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold ${::scobj::pfeiffer_hg::debug_threshold}
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if {${debug_level} >= ${debug_threshold}} {
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sicslog "::scobj::pfeiffer_hg::${debug_string}"
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}
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} catch_message ]
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}
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# function to parse the read of a parameter on a device
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proc ::scobj::pfeiffer_hg::ack_enq {tc_root} {
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set catch_status [ catch {
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debug_log 1 "ack_enq tc_root=${tc_root} sct=[sct] result=[sct result]"
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debug_log ${tc_root} 1 "ack_enq tc_root=${tc_root} sct=[sct] result=[sct result]"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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@@ -34,19 +44,19 @@ proc ::scobj::pfeiffer_hg::ack_enq {tc_root} {
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sct geterror "${data}"
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error "[sct geterror]"
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}
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# hook code starts
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# ack_enq hook code starts
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if {[string equal -nocase -length 1 ${data} "\x06"]} {
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debug_log 1 "ack_enq received ACK, send ENQ"
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debug_log ${tc_root} 1 "ack_enq received ACK, send ENQ"
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sct send "\x05"
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}
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return "readPR1"
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# hook code ends
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# ack_enq hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log 1 "[sct] error: [sct geterror]"
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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if { ${data} != [sct oldval] } {
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debug_log 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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@@ -59,7 +69,7 @@ proc ::scobj::pfeiffer_hg::ack_enq {tc_root} {
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# checklimits function for driveable interface
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proc ::scobj::pfeiffer_hg::checklimits {tc_root} {
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set catch_status [ catch {
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debug_log 1 "checklimits tc_root=${tc_root} sct=[sct] target=[sct target]"
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debug_log ${tc_root} 1 "checklimits tc_root=${tc_root} sct=[sct] target=[sct target]"
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set setpoint [sct target]
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if { [hpropexists [sct] lowerlimit] } {
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set lolimit [sct lowerlimit]
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@@ -73,7 +83,7 @@ proc ::scobj::pfeiffer_hg::checklimits {tc_root} {
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# upperlimit not set, use target
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set hilimit [sct target]
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}
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# hook code goes here
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# checklimits hook code goes here
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if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
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sct driving 0
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error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
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@@ -86,7 +96,7 @@ proc ::scobj::pfeiffer_hg::checklimits {tc_root} {
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# check function for hset change
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proc ::scobj::pfeiffer_hg::checkrange {tc_root} {
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set catch_status [ catch {
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debug_log 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
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debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
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set setpoint [sct target]
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if { [hpropexists [sct] lowerlimit] } {
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set lolimit [sct lowerlimit]
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@@ -100,7 +110,7 @@ proc ::scobj::pfeiffer_hg::checkrange {tc_root} {
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# upperlimit not set, use target
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set hilimit [sct target]
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}
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# hook code goes here
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# checkrange hook code goes here
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if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
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error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
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}
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@@ -112,7 +122,7 @@ proc ::scobj::pfeiffer_hg::checkrange {tc_root} {
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# checkstatus function for driveable interface
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proc ::scobj::pfeiffer_hg::checkstatus {tc_root} {
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set catch_status [ catch {
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# hook code goes here
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# checkstatus hook code goes here
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if {[sct driving]} {
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set sp "[sct target]"
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set pv "[hval ${tc_root}/[sct driveable]]"
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@@ -146,13 +156,13 @@ proc ::scobj::pfeiffer_hg::checkstatus {tc_root} {
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# function to request the read of a parameter on a device
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proc ::scobj::pfeiffer_hg::getValue {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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debug_log ${tc_root} 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set cmd "${cmd_str}"
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# hook code goes here
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debug_log 1 "getValue sct send ${cmd}"
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# getValue hook code goes here
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debug_log ${tc_root} 1 "getValue sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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@@ -164,9 +174,9 @@ proc ::scobj::pfeiffer_hg::getValue {tc_root nextState cmd_str} {
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# halt function for driveable interface
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proc ::scobj::pfeiffer_hg::halt {tc_root} {
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set catch_status [ catch {
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debug_log 1 "halt tc_root=${tc_root} sct=[sct] driving=[sct driving]"
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debug_log ${tc_root} 1 "halt tc_root=${tc_root} sct=[sct] driving=[sct driving]"
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### TODO hset [sct] [hval [sct]]
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# hook code goes here
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# halt hook code goes here
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sct driving 0
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return "idle"
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} catch_message ]
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@@ -176,8 +186,8 @@ proc ::scobj::pfeiffer_hg::halt {tc_root} {
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# function to check the write parameter on a device
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proc ::scobj::pfeiffer_hg::noResponse {tc_root} {
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set catch_status [ catch {
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debug_log 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
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# hook code goes here
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debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
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# noResponse hook code goes here
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return "idle"
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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@@ -186,7 +196,7 @@ proc ::scobj::pfeiffer_hg::noResponse {tc_root} {
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# pid function for PID control
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proc ::scobj::pfeiffer_hg::pid_pressure {tc_root sp pv} {
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set catch_status [ catch {
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debug_log 1 "pid_pressure tc_root=${tc_root} sct=[sct] pv=${pv} sp=${sp}"
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debug_log ${tc_root} 1 "pid_pressure tc_root=${tc_root} sct=[sct] pv=${pv} sp=${sp}"
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sct pid_error [expr ${sp} - ${pv}]
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set p_value [expr [sct pid_pvalue] * [sct pid_error]]
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set d_value [expr [sct pid_dvalue] * (${pv} - [sct oldval])]
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@@ -200,16 +210,19 @@ proc ::scobj::pfeiffer_hg::pid_pressure {tc_root sp pv} {
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}
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set i_value [expr [sct pid_ivalue] * [sct pid_integ]]
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set pid [expr ${p_value} + ${i_value} + ${d_value}]
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# hook code starts
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# pid_pressure hook code starts
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if { [hpropexists [sct] pid_control] } {
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hsetprop [hgetpropval [sct] pid_control] pid_bias ${pid}
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if { [hpropexists [hgetpropval [sct] pid_control] target] } {
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hset [hgetpropval [sct] pid_control] [hgetpropval [hgetpropval [sct] pid_control] target]
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set co [hgetpropval [sct] pid_control]
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if { !([hpropexists ${co} pid_bias] && [hgetpropval ${co} pid_bias] == ${pid}) } {
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hsetprop ${co} pid_bias ${pid}
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if { [hpropexists ${co} target] } {
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hset ${co} [hgetpropval ${co} target]
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} else {
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hset [hgetpropval [sct] pid_control] [hval [hgetpropval [sct] pid_control]]
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hset ${co} [hval ${co}]
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}
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}
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}
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# hook code ends
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# pid_pressure hook code ends
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sct pid_output ${pid}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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@@ -219,7 +232,7 @@ proc ::scobj::pfeiffer_hg::pid_pressure {tc_root sp pv} {
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# function to parse the read of a parameter on a device
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proc ::scobj::pfeiffer_hg::rdValue {tc_root} {
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set catch_status [ catch {
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debug_log 1 "rdValue tc_root=${tc_root} sct=[sct] result=[sct result]"
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debug_log ${tc_root} 1 "rdValue tc_root=${tc_root} sct=[sct] result=[sct result]"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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@@ -230,9 +243,9 @@ proc ::scobj::pfeiffer_hg::rdValue {tc_root} {
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sct geterror "${data}"
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error "[sct geterror]"
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}
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# hook code goes here
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# rdValue hook code goes here
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if { ${data} != [sct oldval] } {
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debug_log 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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@@ -245,7 +258,7 @@ proc ::scobj::pfeiffer_hg::rdValue {tc_root} {
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# function to parse the read of a parameter on a device
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proc ::scobj::pfeiffer_hg::readPR1 {tc_root} {
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set catch_status [ catch {
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debug_log 1 "readPR1 tc_root=${tc_root} sct=[sct] result=[sct result]"
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debug_log ${tc_root} 1 "readPR1 tc_root=${tc_root} sct=[sct] result=[sct result]"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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@@ -256,7 +269,7 @@ proc ::scobj::pfeiffer_hg::readPR1 {tc_root} {
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sct geterror "${data}"
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error "[sct geterror]"
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}
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# hook code starts
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# readPR1 hook code starts
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set val [string range $data 3 12]
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set status [string range $data 0 0]
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set data ${val}
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@@ -266,13 +279,13 @@ proc ::scobj::pfeiffer_hg::readPR1 {tc_root} {
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set pv $val
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pid_pressure ${tc_root} ${sp} ${pv}
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}
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# hook code ends
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# readPR1 hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log 1 "[sct] error: [sct geterror]"
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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if { ${data} != [sct oldval] } {
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debug_log 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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@@ -285,13 +298,13 @@ proc ::scobj::pfeiffer_hg::readPR1 {tc_root} {
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# function to request the read of a parameter on a device
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proc ::scobj::pfeiffer_hg::sendPR1 {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log 1 "sendPR1 tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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debug_log ${tc_root} 1 "sendPR1 tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set cmd "${cmd_str}"
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# hook code goes here
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debug_log 1 "sendPR1 sct send ${cmd}"
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# sendPR1 hook code goes here
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debug_log ${tc_root} 1 "sendPR1 sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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@@ -303,17 +316,20 @@ proc ::scobj::pfeiffer_hg::sendPR1 {tc_root nextState cmd_str} {
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# function to write a parameter value on a device
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proc ::scobj::pfeiffer_hg::setPoint {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log 1 "setPoint tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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debug_log ${tc_root} 1 "setPoint tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set par [sct target]
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set cmd "${cmd_str}${par}"
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# hook code starts
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# setPoint hook code starts
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sct pid_control /sample/tc9/Valve/Setpoint
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# hook code ends
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sct update [sct target]
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set cmd "@@NOSEND@@"
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set nextState "idle"
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# setPoint hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log 1 "[sct] error: [sct geterror]"
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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if { [hpropexists [sct] driving] } {
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@@ -321,7 +337,7 @@ proc ::scobj::pfeiffer_hg::setPoint {tc_root nextState cmd_str} {
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sct driving 1
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}
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}
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debug_log 1 "setPoint sct send ${cmd}"
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debug_log ${tc_root} 1 "setPoint sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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@@ -333,19 +349,19 @@ proc ::scobj::pfeiffer_hg::setPoint {tc_root nextState cmd_str} {
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# function to write a parameter value on a device
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proc ::scobj::pfeiffer_hg::setValue {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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debug_log ${tc_root} 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set par [sct target]
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set cmd "${cmd_str}${par}"
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# hook code goes here
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# setValue hook code goes here
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if { [hpropexists [sct] driving] } {
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if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
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sct driving 1
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}
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}
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debug_log 1 "setValue sct send ${cmd}"
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debug_log ${tc_root} 1 "setValue sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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@@ -354,8 +370,8 @@ proc ::scobj::pfeiffer_hg::setValue {tc_root nextState cmd_str} {
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handle_exception ${catch_status} ${catch_message}
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}
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proc ::scobj::pfeiffer_hg::mk_sct_pfeiffer_hg { sct_controller name } {
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debug_log 1 "mk_sct_pfeiffer_hg for ${name}"
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proc ::scobj::pfeiffer_hg::mkDriver { sct_controller name } {
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::scobj::pfeiffer_hg::sics_log 9 "::scobj::pfeiffer_hg::mkDriver for ${name}"
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set ns "[namespace current]"
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set catch_status [ catch {
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@@ -433,65 +449,73 @@ proc ::scobj::pfeiffer_hg::mk_sct_pfeiffer_hg { sct_controller name } {
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ansto_makesctdrive ${name}_pressure_setpoint ${scobj_hpath}/pressure/setpoint ${scobj_hpath}/pressure/sensor ${sct_controller}
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}
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hsetprop ${scobj_hpath} klass environment
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# hook code starts
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hsetprop ${scobj_hpath} debug_threshold 5
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# mkDriver hook code starts
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hsetprop ${scobj_hpath}/pressure/sensor read ${ns}::sendPR1 ${scobj_hpath} ack_enq {PR1}
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hsetprop ${scobj_hpath}/pressure/sensor ack_enq ${ns}::ack_enq ${scobj_hpath}
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# hook code ends
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# mkDriver hook code ends
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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namespace eval ::scobj::pfeiffer_hg {
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namespace export debug_threshold
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namespace export debug_log
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namespace export mk_sct_pfeiffer_hg
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namespace export sics_log
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namespace export mkDriver
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}
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proc add_pfeiffer_hg {name IP port} {
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set catch_status [ catch {
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set ns "::scobj::pfeiffer_hg"
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${ns}::debug_log 1 "add_pfeiffer_hg ${name} ${IP} ${port}"
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::scobj::pfeiffer_hg::sics_log 9 "add_pfeiffer_hg ${name} ${IP} ${port}"
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if {[SplitReply [environment_simulation]]=="false"} {
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if {[string equal -nocase "aqadapter" "${IP}"]} {
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${ns}::debug_log 1 "makesctcontroller sct_${name} aqadapter ${port}"
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::scobj::pfeiffer_hg::sics_log 9 "makesctcontroller sct_${name} aqadapter ${port}"
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makesctcontroller sct_${name} aqadapter ${port}
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} else {
|
||||
${ns}::debug_log 1 "makesctcontroller sct_${name} std ${IP}:${port}"
|
||||
::scobj::pfeiffer_hg::sics_log 9 "makesctcontroller sct_${name} std ${IP}:${port}"
|
||||
makesctcontroller sct_${name} std ${IP}:${port}
|
||||
}
|
||||
}
|
||||
${ns}::debug_log 1 "mk_sct_pfeiffer_hg sct_${name} ${name}"
|
||||
${ns}::mk_sct_pfeiffer_hg sct_${name} ${name}
|
||||
::scobj::pfeiffer_hg::sics_log 1 "::scobj::pfeiffer_hg::mkDriver sct_${name} ${name}"
|
||||
::scobj::pfeiffer_hg::mkDriver sct_${name} ${name}
|
||||
} catch_message ]
|
||||
handle_exception ${catch_status} ${catch_message}
|
||||
}
|
||||
|
||||
puts stdout "file evaluation of sct_pfeiffer_hg.tcl"
|
||||
::scobj::pfeiffer_hg::debug_log 1 "file evaluation of sct_pfeiffer_hg.tcl"
|
||||
::scobj::pfeiffer_hg::sics_log 9 "file evaluation of sct_pfeiffer_hg.tcl"
|
||||
|
||||
proc ::scobj::pfeiffer_hg::read_config {} {
|
||||
set catch_status [ catch {
|
||||
set ns "::scobj::pfeiffer_hg"
|
||||
${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"] == "pfeiffer_hg" } {
|
||||
${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_pfeiffer_hg ${name} "aqadapter" ${name}_queue
|
||||
add_pfeiffer_hg ${name} "aqadapter" ${asyncqueue}
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -499,8 +523,9 @@ proc ::scobj::pfeiffer_hg::read_config {} {
|
||||
} catch_message ]
|
||||
handle_exception ${catch_status} ${catch_message}
|
||||
}
|
||||
|
||||
if { [info exists ::config_dict] } {
|
||||
::scobj::pfeiffer_hg::read_config
|
||||
} else {
|
||||
::scobj::pfeiffer_hg:debug_log 1 "No config dict"
|
||||
::scobj::pfeiffer_hg::sics_log 5 "No config dict"
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user