commands_common.tcl
Added histmem and runscan command hmm_configuration_common_1.tcl Set histmem_cmd status feedback to IDLE on COUNTEND event nxscripts_common_1.tcl When saving a set of files the time-stamp is offset from the time the first file is created. scan_common_1.tcl The hmscan hook functions now set feedback on the runscan_cmd sct_positmotor_common.tcl Added mk_sct_positmotor command to create a script context controller which runs a motor to an indexed position. Added positmotor_configuration.tcl to echidna, wombat, kowari, quokka, platypus. sans/config/motors/positmotor_configuration.tcl Has an example of a positmotor configuration for the sample changer sanx/quokka_configuration.tcl Setup feedback nodes for AttRotDeg and RotApDeg. motor_utility.tcl Added reldrive and relrun commands along with getmotpar convenience command. r2725 | ffr | 2008-10-27 15:55:48 +1100 (Mon, 27 Oct 2008) | 26 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
7ded983eba
commit
81f98bd337
190
site_ansto/instrument/config/motors/sct_positmotor_common.tcl
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190
site_ansto/instrument/config/motors/sct_positmotor_common.tcl
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namespace eval ::sobj::positmotor {
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variable posit_table
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variable posit_indices
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# TODO Add a script to edit the posit_table and attach it to indexed nodes with read and write actions.
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proc abort_on_invalid_posindex {pos} {
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variable posit_indices
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set pos0 [lindex $posit_indices 0]
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set posend [lindex $posit_indices end]
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if {$pos < $pos0 || $pos > $posend} {
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return -code error "ERROR: Indexed position must be between $pos0 and $posend"
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}
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}
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##
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# @brief Convert an indexed position to a physical motor position
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proc pos2val {pos} {
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variable posit_table
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if [ catch {
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abort_on_invalid_posindex $pos
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set bot [expr int(floor($pos))]
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set top [expr int(ceil($pos))]
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set fract [expr fmod($pos,1)]
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set val [expr $fract * ($posit_table($top) - $posit_table($bot)) + $posit_table($bot)]
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} message ] {
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return -code error $message
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} else {
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return $val
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}
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}
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##
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# @brief Convert a physical motor position to and indexed position
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proc val2pos {val precision} {
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variable posit_table
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variable posit_indices
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set val [expr double($val)]
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set pos0 [lindex $posit_indices 0]
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set posend [lindex $posit_indices end]
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if {$val < [expr $posit_table($pos0) - $precision]} {return -$pos0}
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if {$val > [expr $posit_table($posend) + $precision]} {return -$posend}
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if [catch {
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set ibot $pos0
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set itop [lindex $posit_indices 1]
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while {$val > [expr $posit_table($itop) + $precision]} {
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incr ibot
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incr itop
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}
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set bot [expr $posit_table($ibot)]
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set top [expr $posit_table($itop)]
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if {[expr $bot - $precision] <= $val && $val <= [expr $bot + $precision]} {
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set pos $ibot
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} elseif {[expr $top - $precision] <= $val && $val <= [expr $top + $precision]} {
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set pos $itop
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} else {
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# set pos [format "%.3f" [expr int(($val -$bot)/$precision)*$precision/($top - $bot) + $ibot]]
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set pos [expr int(($val -$bot)/$precision)*$precision/($top - $bot) + $ibot]
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}
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} errmsg] {
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return -code error $errmsg
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} else {
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return $pos
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}
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}
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proc rd_index {par motor} {
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sct result [SplitReply [$motor]]
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return state_reading_index
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}
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proc state_reading_index {path par} {
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variable posit_table
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sct writestatus replyreceived
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set rply [val2pos [sct result] [hval $path/motprecision]]
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set data $rply
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# broadcast state_reading_index update parameter $par $data
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if {$data != [sct oldval] || [sct force_update] } {
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# if {[status] == "status = Driving" && [hval $path/state] == "idle"} {
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# hset $path/state busy
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# }
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sct oldval $data
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sct update $data
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sct force_update False
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sct utime readtime
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}
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if {[hval $path/state] == "stopping"} {
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hset $path/state idle
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}
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return idle
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}
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# Convert position index to a physical position before running the motor
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proc w_index {sct_controller path par motor} {
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variable posit_table
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# broadcast w_index
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if [ catch {
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set val [pos2val [sct target] ]
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hset $path/state busy
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run $motor $val
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$sct_controller poll $path 1
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} errmsg ] {
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error $errmsg
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return idle
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} else {
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return idle
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}
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}
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# TODO Check thread 0 and motion control disabled?
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proc check_motor {} {
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# broadcast check_motor
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set val [sct target]
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return OK
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}
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proc setposindex {posindex val} {
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variable posit_table
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set posit_table($posindex) $val
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}
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proc mk_sct_positmotor {sct_controller motname param axis posit_list} {
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variable posit_table
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variable posit_indices
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array set posit_table $posit_list
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set posit_indices [lsort [array names posit_table]]
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if [ catch {
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set ns ::sobj::positmotor
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set parnode ${motname}_motor
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MakeSICSObj $parnode SCT_MOTOR
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# Make setable position parameter and poll it.
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set posindex_node /sics/${parnode}/${param}
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hfactory $posindex_node plain spy float
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hsetprop $posindex_node read ${ns}::rd_index $param $motname
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hsetprop $posindex_node state_reading_index ${ns}::state_reading_index $posindex_node $param
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hsetprop $posindex_node write ${ns}::w_index $sct_controller $posindex_node $param $motname
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hsetprop $posindex_node check ${ns}::check_motor
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hsetprop $posindex_node oldval UNKNOWN
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hsetprop $posindex_node force_update True
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# hsetprop $posindex_node motprecision [SplitReply [samx precision]]
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hfactory $posindex_node/motprecision script "getmotpar samx precision" "samx precision " float 1
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hfactory $posindex_node/lookup_table plain spy none
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hsetprop $posindex_node/lookup_table numpos [llength $posit_indices]
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foreach posindex $posit_indices {
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hfactory $posindex_node/lookup_table/$posindex script "${ns}::pos2val $posindex" "${ns}::setposindex $posindex " float 1
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}
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hfactory $posindex_node/state plain spy text
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hset $posindex_node/state idle
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proc ${motname}_MOTEND {} [subst -nocommands {
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if { [hval $posindex_node/state] == "busy"} {
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$sct_controller poll $posindex_node 5
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hset $posindex_node/state stopping
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}
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}]
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publish ${ns}::${motname}_MOTEND user
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scriptcallback connect $motname MOTEND ${ns}::${motname}_MOTEND
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$sct_controller poll $posindex_node
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$sct_controller write $posindex_node
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} message ] {
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return -code error $message
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}
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}
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namespace export mk_sct_positmotor
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}
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namespace import ::sobj::positmotor::*
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##
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# Eg
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# hfactory /controllers plain spy none
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#
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# makesctcontroller /controllers/sct_mc1 std localhost:62034
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#
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# mk_sct_positmotor sct_mc1 phi phi_posindex A
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# mk_sct_positmotor sct_mc1 chi B { 1 0 2 15 3 20 }
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