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

site_ansto/instrument/config/commands/commands_common.tcl

@@ -4,8 +4,52 @@
 ################################################################################
 namespace eval commands { }
 
+proc ::commands::ic_initialize {} {
+namespace eval ::histogram {
+  set NS [namespace current]
+
+  command histmem_cmd [subst {
+    text=start,stop,pause cmd
+    text=[join $::histogram_memory::ic_count_methods , ] mode
+    int=0:inf preset
+    float freq
+    text=[join $::histogram_memory::ic_fsrce_values , ] frame_source
+  }] {
+    switch $cmd {
+      "stop" {
+        histmem stop
+        ::histogram::histmem_cmd -set feedback status IDLE
+      }
+      "pause" {
+        histmem pause
+        ::histogram::histmem_cmd -set feedback status PAUSED
+      }
+      "start" {
+        histmem mode $mode
+        histmem preset $preset
+        histmem freq $freq
+        histmem fsrce $frame_source
+        histmem start
+        ::histogram::histmem_cmd -set feedback status BUSY
+      }
+      default {
+        # $cmd unknown
+      }
+    }
+  }
+  ::histogram::histmem_cmd -set mode [histmem mode]
+  ::histogram::histmem_cmd -set preset [histmem preset]
+  ::histogram::histmem_cmd -set freq [histmem freq]
+  ::histogram::histmem_cmd -set frame_source [histmem fsrce]
+  ::histogram::histmem_cmd -addfb text status
+  ::histogram::histmem_cmd -set feedback status IDLE
+  sicslist setatt ::histogram::histmem_cmd long_name histmem
+}
 # SCAN COMMANDS
-namespace eval scan {
+namespace eval ::scan {
+  set NS [uplevel namespace current]
+
+
 command hdb_bmonscan {
   text=drivable scan_variable
   float scan_start
@@ -34,40 +78,30 @@ command hdb_bmonscan {
 ::scan::hdb_bmonscan -addfb text mode float preset float scan_variable_value int scanpoint int counts text status
 ::scan::hdb_bmonscan -set feedback status IDLE
 
-command hdb_hmscan {
+
+  command runscan_cmd [subst {
     text=drivable scan_variable
     float scan_start
-  float scan_increment
+    float scan_stop
-  int NP
+    int=0:inf numpoints
-  text=monitor,timer mode
+    text=[join [concat [list time unlimited period count frame] $::counter::isc_beam_monitor_list ] , ] mode
-  float preset
+    float=0,inf preset
-  int=0,2 channel
+    text=[join [array names ::nexus::histmem_filetype_spec] , ] datatype
-} { 
+    text=save,nosave savetype
-
+    text=true,false  force
-    hmscan clear
+  }] {
-
+    ::scan::runscan $scan_variable $scan_start $scan_stop $numpoints $mode $preset savetype $savetype datatype $datatype force $force
-    hmscan add $scan_variable $scan_start $scan_increment
-    hmscan setchannel $channel;
-    set status [catch {hmscan run $NP $mode $preset} msg]
-
-    if {$status == 0} {
-      return $msg
-    } else {
-      return -code error "ERROR [info level 0]"
   }
-
+  ::scan::runscan_cmd -addfb float scan_variable_value float scan_step int scanpoint text status
-
+  ::scan::runscan_cmd -set feedback status IDLE
-}
+  sicslist setatt ::scan::runscan_cmd long_name runscan
-::scan::hdb_hmscan -addfb text mode float preset float scan_variable_value int scanpoint int counts text status
-::scan::hdb_hmscan -set feedback status IDLE
 }
 sicslist setatt ::scan::hdb_bmonscan long_name bmonscan
-sicslist setatt ::scan::hdb_hmscan long_name hmscan
 ################################################################################
 
 ################################################################################
 # MONITOR COMMANDS
-namespace eval monitor {
+namespace eval ::monitor {
   command count {
     text=timer,monitor mode
     float preset
@@ -83,7 +117,6 @@ namespace eval monitor {
 }
 ################################################################################
 
-proc ::commands::ic_initialize {} {
 # Generate the following commands, 
 # ::motor::go_home
   namespace eval ::motor {

site_ansto/instrument/config/hmm/hmm_configuration_common_1.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.41 $
+# $Revision: 1.42 $
-# $Date: 2008-09-24 04:28:44 $
+# $Date: 2008-10-27 04:55:41 $
 # Author: Ferdi Franceschini
 # Based on the examples in the hs_test.tcl sample configuration by Mark Lesha.
 # http://gumtree.ansto.gov.au:9080/nbicms/bragg-systems/histogram-server/hs_test.tcl/view
@@ -1578,10 +1578,11 @@ sicslist setatt ::histogram_memory::time units seconds
 
 ##
 # @brief Update the beam monitors when the histmem has finished counting.
-proc ::histogram_memory::update_bm {} {
+proc ::histogram_memory::countend_event {} {
+  ::histogram::histmem_cmd -set feedback status IDLE
   bm status
 }
-publish ::histogram_memory::update_bm user
+publish ::histogram_memory::countend_event user
 
 ##
 # @brief Sets histogram server to default configuration, initialises SICS histogram memory
@@ -1645,7 +1646,7 @@ proc ::histogram_memory::ic_initialize {} {
     hmm configure hmDataPath ../HMData
     hmm configure hmconfigscript $configuration
     ::histogram_memory::configure_dims
-    scriptcallback connect hmm COUNTEND ::histogram_memory::update_bm
+    scriptcallback connect hmm COUNTEND ::histogram_memory::countend_event
   } message ] {
     if {$::errorCode=="NONE"} {return $message}
     return -code error $message

site_ansto/instrument/config/motors/sct_positmotor_common.tcl

@@ -0,0 +1,190 @@
+namespace eval ::sobj::positmotor {
+  variable posit_table
+  variable posit_indices
+  # TODO Add a script to edit the posit_table and attach it to indexed nodes with read and write actions.
+
+  proc abort_on_invalid_posindex {pos} {
+    variable posit_indices
+
+    set pos0 [lindex $posit_indices 0]
+    set posend [lindex $posit_indices end]
+    if {$pos < $pos0 || $pos > $posend} { 
+      return -code error "ERROR: Indexed position must be between $pos0 and $posend"
+    }
+  }
+
+  ##
+  # @brief Convert an indexed position to a physical motor position
+  proc pos2val {pos} {
+    variable posit_table
+
+    if [ catch {
+      abort_on_invalid_posindex $pos
+      set bot [expr int(floor($pos))]
+      set top [expr int(ceil($pos))]
+      set fract [expr fmod($pos,1)]
+      set val [expr $fract * ($posit_table($top) - $posit_table($bot)) + $posit_table($bot)]
+    } message ] {
+      return -code error $message
+    } else {
+      return $val
+    }
+  }
+
+  ##
+  # @brief Convert a physical motor position to and indexed position
+  proc val2pos {val precision} {
+    variable posit_table
+    variable posit_indices 
+
+    set val [expr double($val)]
+    set pos0 [lindex $posit_indices 0]
+    set posend [lindex $posit_indices end]
+    if {$val < [expr $posit_table($pos0) - $precision]} {return -$pos0}
+    if {$val > [expr $posit_table($posend) + $precision]} {return -$posend}
+    if [catch {
+      set ibot $pos0
+      set itop [lindex $posit_indices 1]
+      while {$val > [expr $posit_table($itop) + $precision]} {
+        incr ibot
+        incr itop
+      }
+      set bot [expr $posit_table($ibot)]
+      set top [expr $posit_table($itop)]
+      if {[expr $bot - $precision] <= $val && $val <= [expr $bot + $precision]} {
+        set pos $ibot
+      } elseif {[expr $top - $precision] <= $val && $val <= [expr $top + $precision]} {
+        set pos $itop
+      } else {
+#       set pos [format "%.3f" [expr int(($val -$bot)/$precision)*$precision/($top - $bot) + $ibot]]
+        set pos [expr int(($val -$bot)/$precision)*$precision/($top - $bot) + $ibot]
+      }
+    } errmsg] {
+      return -code error $errmsg
+    } else {
+      return $pos
+    }
+  }
+
+  proc rd_index {par motor} {
+    sct result [SplitReply [$motor]]
+    return state_reading_index
+  }
+
+  proc state_reading_index {path par} {
+    variable posit_table 
+    sct writestatus replyreceived
+    set rply [val2pos [sct result] [hval $path/motprecision]]
+    set data $rply
+   # broadcast state_reading_index update parameter $par $data
+    if {$data != [sct oldval] || [sct force_update] } {
+#     if {[status] == "status = Driving" && [hval $path/state] == "idle"} {
+#       hset $path/state busy
+#     }
+      sct oldval $data
+      sct update $data
+      sct force_update False
+      sct utime readtime
+    }
+    if {[hval $path/state] == "stopping"} {
+      hset $path/state idle
+    }
+    return idle
+  }
+  
+  # Convert position index to a physical position before running the motor
+  proc w_index {sct_controller path par motor} {
+    variable posit_table 
+
+#   broadcast w_index
+    if [ catch {
+      set val [pos2val [sct target] ]
+      hset $path/state busy
+      run $motor $val 
+      $sct_controller poll $path 1
+    } errmsg ] {
+      error $errmsg
+      return idle
+    } else {
+      return idle
+    }
+  }
+
+  
+  # TODO Check thread 0 and motion control disabled?
+  proc check_motor {} {
+#   broadcast check_motor
+    set val [sct target]
+    return OK
+  }
+
+  proc setposindex {posindex val} {
+    variable posit_table
+
+    set posit_table($posindex) $val
+  }
+
+  proc mk_sct_positmotor {sct_controller motname param axis posit_list} {
+    variable posit_table
+    variable posit_indices
+
+    array set posit_table $posit_list
+    set posit_indices [lsort [array names posit_table]]
+
+
+    if [ catch {
+    set ns ::sobj::positmotor
+    set parnode ${motname}_motor
+    MakeSICSObj $parnode SCT_MOTOR
+  # Make setable position parameter and poll it.
+    set posindex_node /sics/${parnode}/${param}
+    hfactory $posindex_node plain spy float
+    hsetprop $posindex_node read ${ns}::rd_index $param $motname
+    hsetprop $posindex_node state_reading_index ${ns}::state_reading_index $posindex_node $param
+    hsetprop $posindex_node write ${ns}::w_index $sct_controller $posindex_node $param $motname
+    hsetprop $posindex_node check ${ns}::check_motor
+
+    hsetprop $posindex_node oldval UNKNOWN
+    hsetprop $posindex_node force_update True
+#   hsetprop $posindex_node motprecision [SplitReply [samx precision]]
+    hfactory $posindex_node/motprecision script "getmotpar samx precision" "samx precision " float 1
+
+    hfactory $posindex_node/lookup_table plain spy none
+    hsetprop $posindex_node/lookup_table numpos [llength $posit_indices]
+    foreach posindex $posit_indices {
+      hfactory $posindex_node/lookup_table/$posindex script "${ns}::pos2val $posindex" "${ns}::setposindex $posindex " float 1
+    }
+
+    hfactory $posindex_node/state plain spy text
+    hset $posindex_node/state idle
+    
+    proc ${motname}_MOTEND {} [subst -nocommands {
+      if { [hval $posindex_node/state] == "busy"} {
+        $sct_controller poll $posindex_node 5
+        hset $posindex_node/state stopping
+     }
+    }]
+    publish ${ns}::${motname}_MOTEND user
+
+    scriptcallback connect $motname MOTEND ${ns}::${motname}_MOTEND
+
+    $sct_controller poll $posindex_node 
+    $sct_controller write $posindex_node
+
+    } message ] {
+      return -code error $message
+    }
+  }
+
+  namespace export mk_sct_positmotor
+}
+namespace import ::sobj::positmotor::*
+##
+# Eg
+# hfactory /controllers plain spy none  
+# 
+# makesctcontroller /controllers/sct_mc1 std localhost:62034
+#
+# mk_sct_positmotor sct_mc1 phi phi_posindex A
+# mk_sct_positmotor sct_mc1 chi B { 1 0 2 15 3 20 }
+

site_ansto/instrument/config/nexus/nxscripts_common_1.tcl

@@ -402,6 +402,7 @@ proc ::nexus::save {{point 0}} {
   proc ::nexus::save_collection {args} {
     variable state
     variable data_gp_path
+    variable start_seconds
     variable start_seconds_array
     variable currFilename
 
@@ -456,7 +457,7 @@ proc ::nexus::save {{point 0}} {
         eend [lindex [sicstime] 1]
         array unset start_seconds_array
         set start_seconds [clock seconds]
-        set start_seconds_array($data_label) $start_seconds
+#       set start_seconds_array($data_label) $start_seconds
         timestamp 0
         ::nexus::nxreopenfile $currFilename($data_label)
         ::nexus::save_data $point
@@ -465,7 +466,8 @@ proc ::nexus::save {{point 0}} {
         ::nexus::nxclosefile $currFilename($data_label)
       } else {
         eend [lindex [sicstime] 1] 
-        timestamp [expr {[clock seconds] - $start_seconds_array($data_label)}] 
+#       timestamp [expr {[clock seconds] - $start_seconds_array($data_label)}] 
+        timestamp [expr {[clock seconds] - $start_seconds}] 
         dataFileName $currFilename($data_label)
         ::nexus::nxreopenfile $currFilename($data_label)
         ::nexus::save_data $point
@@ -1214,7 +1216,7 @@ foreach expt $::nexus::exports {
 
 set tmpstr [string map {"$" ""} {$Name: not supported by cvs2svn $}]
 set nx_content_release_tag [lindex $tmpstr [expr [llength $tmpstr] - 1]]
-set tmpstr [string map {"$" ""} {$Revision: 1.44 $}]
+set tmpstr [string map {"$" ""} {$Revision: 1.45 $}]
 set nx_content_revision_num [lindex $tmpstr [expr [llength $tmpstr] - 1]]
 
 #namespace eval data {

site_ansto/instrument/config/scan/scan_common_1.tcl

@@ -113,7 +113,7 @@ proc ::scan::ic_initialize {} {
         numpoints int=0,inf
         mode text=[join [concat [list time unlimited period count frame] $::counter::isc_beam_monitor_list ] , ]
         preset float=0,inf
-        filetype text=[join [array names ::nexus::histmem_filetype_spec] , ]
+        datatype text=[join [array names ::nexus::histmem_filetype_spec] , ]
       savetype text=save,nosave
       force  boolean 
     }]
@@ -207,17 +207,12 @@ proc ::scan::hmm_scan_prepare {sobj uobj} {
         set vlist [split [$sobj getvarpar 0] = ]
         set scanstart [lindex $vlist 1]
         set scanstep [lindex $vlist 2]
-        ::scan::hdb_hmscan -set NP $numpoints
-        ::scan::hdb_hmscan -set scan_variable [string trim [lindex [split [lindex $vlist 0] . ] 1]]
-        ::scan::hdb_hmscan -set scan_start $scanstart
-        ::scan::hdb_hmscan -set scan_increment $scanstep
 
-
+        ::scan::runscan_cmd -set feedback status BUSY
-        ::scan::hdb_hmscan -set feedback status BUSY
         run_mode "hmscan"
 
         ::nexus::newfile $ic_hmm_datatype $save_filetype
-        data axis 1 [::scan::hdb_hmscan -set scan_variable]
+        data axis 1 [::scan::runscan_cmd -set scan_variable]
 
         clientput "Scan start: $scanstart, Scan step: $scanstep, Number of points: $numpoints"
         clientput "Datatype: $ic_hmm_datatype"
@@ -233,12 +228,8 @@ proc ::scan::hmm_scan_prepare {sobj uobj} {
   }
 
 proc ::scan::hmm_count {sobj uobj point mode preset} {
-    ::scan::hdb_hmscan -set mode $mode
+    ::scan::runscan_cmd -set feedback scanpoint $point
-    ::scan::hdb_hmscan -set preset $preset
+    ::scan::runscan_cmd -set feedback scan_variable_value [SplitReply [[::scan::runscan_cmd -set scan_variable]]]
-    ::scan::hdb_hmscan -set feedback scanpoint $point
-    ::scan::hdb_hmscan -set feedback mode $mode
-    ::scan::hdb_hmscan -set feedback preset $preset
-    ::scan::hdb_hmscan -set feedback scan_variable_value [SplitReply [[::scan::hdb_hmscan -set scan_variable]]]
     # Start histogram and block until count is complete
     ::histogram_memory::start block
   }
@@ -249,17 +240,17 @@ proc ::scan::hmm_scan_finish {sobj uobj} {
     variable reset_position
     set $save_filetype "data"
     ::histogram_memory::stop
-    ::scan::hdb_hmscan -set feedback status IDLE
+    ::scan::runscan_cmd -set feedback status IDLE
     run_mode "normal"
     # Make sure that the next save command doesn't overwrite our scan data.
     # and clear any data links
     ::nexus::newfile clear data
     if {$reset_position == "true"} {
       set reset_position "false" 
-      set svar [::scan::hdb_hmscan -get scan_variable]
+      set svar [::scan::runscan_cmd -get scan_variable]
       set svtype [getatt $svar type]
       if {$svtype == "motor" || $svtype == "configurablevirtualmotor"} {
-        drive $svar [::scan::hdb_hmscan -get scan_start]
+        drive $svar [::scan::runscan_cmd -get scan_start]
       }
     }
 #    ::histogram_memory::configure_server Filler_defaults
@@ -454,6 +445,13 @@ namespace eval scan {
     hmscan clear 
     hmscan add $scanvar $start $step
     # hmscan ignores mode and preset, we use FAT_COUNT_METHOD and FAT_COUNT_STOP
+    ::scan::runscan_cmd -set numpoints $numpoints
+    ::scan::runscan_cmd -set scan_variable $scanvar
+    ::scan::runscan_cmd -set scan_start $start
+    ::scan::runscan_cmd -set scan_stop $stop
+    ::scan::runscan_cmd -set feedback scan_step $step
+    ::scan::runscan_cmd -set mode $mode
+    ::scan::runscan_cmd -set preset $preset
     set status [catch {hmscan run $numpoints timer 0} msg]
     set force_scan false
 

site_ansto/instrument/hipd/config/INSTCFCOMMON.TXT

@@ -12,4 +12,4 @@ config/hmm/anstohm_linked.xml
 config/scan/scan_common_1.hdd
 config/scan/scan_common_1.tcl
 config/nexus/nxscripts_common_1.tcl
-config/commands/commands_common.tcl
+config/motors/sct_positmotor_common.tcl

site_ansto/instrument/hipd/config/motors/positmotor_configuration.tcl

@@ -0,0 +1,2 @@
+source $cfPath(motors)/sct_positmotor_common.tcl
+

site_ansto/instrument/hipd/wombat_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.28 $
+# $Revision: 1.29 $
-# $Date: 2008-10-20 00:08:30 $
+# $Date: 2008-10-27 04:55:43 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -23,6 +23,7 @@ source instrument_vars.tcl
 
 fileeval $cfPath(source)/source.tcl
 source $cfPath(hipadaba)/hipadaba_configuration.tcl
+fileeval $cfPath(motors)/positmotor_configuration.tcl
 fileeval $cfPath(plc)/plc.tcl
 fileeval $cfPath(counter)/counter.tcl
 #TODO Provide method for choosing environment controller

site_ansto/instrument/hrpd/config/INSTCFCOMMON.TXT

@@ -13,3 +13,4 @@ config/scan/scan_common_1.hdd
 config/scan/scan_common_1.tcl
 config/nexus/nxscripts_common_1.tcl
 config/commands/commands_common.tcl
+config/motors/sct_positmotor_common.tcl

site_ansto/instrument/hrpd/config/motors/positmotor_configuration.tcl

@@ -0,0 +1,2 @@
+source $cfPath(motors)/sct_positmotor_common.tcl
+

site_ansto/instrument/hrpd/echidna_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.34 $
+# $Revision: 1.35 $
-# $Date: 2008-10-20 00:08:30 $
+# $Date: 2008-10-27 04:55:44 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -23,6 +23,7 @@ source instrument_vars.tcl
 
 fileeval $cfPath(source)/source.tcl
 source $cfPath(hipadaba)/hipadaba_configuration.tcl
+fileeval $cfPath(motors)/positmotor_configuration.tcl
 fileeval $cfPath(plc)/plc.tcl
 fileeval $cfPath(counter)/counter.tcl
 #TODO Provide method for choosing environment controller

site_ansto/instrument/pas/config/INSTCFCOMMON.TXT

@@ -11,3 +11,4 @@ config/scan/scan_common_1.hdd
 config/scan/scan_common_1.tcl
 config/nexus/nxscripts_common_1.tcl
 config/commands/commands_common.tcl
+config/motors/sct_positmotor_common.tcl

site_ansto/instrument/reflectometer/config/INSTCFCOMMON.TXT

@@ -11,3 +11,4 @@ config/scan/scan_common_1.hdd
 config/scan/scan_common_1.tcl
 config/nexus/nxscripts_common_1.tcl
 config/commands/commands_common.tcl
+config/motors/sct_positmotor_common.tcl

site_ansto/instrument/reflectometer/config/motors/positmotor_configuration.tcl

@@ -0,0 +1,2 @@
+source $cfPath(motors)/sct_positmotor_common.tcl
+

site_ansto/instrument/reflectometer/platypus_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.21 $
+# $Revision: 1.22 $
-# $Date: 2008-10-20 00:08:30 $
+# $Date: 2008-10-27 04:55:45 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -22,6 +22,7 @@ fileeval $cfPath(motors)/motor_configuration.tcl
 
 fileeval $cfPath(source)/source.tcl
 source $cfPath(hipadaba)/hipadaba_configuration.tcl
+fileeval $cfPath(motors)/positmotor_configuration.tcl
 fileeval $cfPath(parameters)/parameters.tcl
 fileeval $cfPath(plc)/plc.tcl
 fileeval $cfPath(counter)/counter.tcl

site_ansto/instrument/rsd/config/INSTCFCOMMON.TXT

@@ -11,3 +11,4 @@ config/scan/scan_common_1.hdd
 config/scan/scan_common_1.tcl
 config/nexus/nxscripts_common_1.tcl
 config/commands/commands_common.tcl
+config/motors/sct_positmotor_common.tcl

site_ansto/instrument/rsd/config/motors/positmotor_configuration.tcl

@@ -0,0 +1,2 @@
+source $cfPath(motors)/sct_positmotor_common.tcl
+

site_ansto/instrument/rsd/kowari_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.15 $
+# $Revision: 1.16 $
-# $Date: 2008-10-20 00:08:30 $
+# $Date: 2008-10-27 04:55:46 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -22,6 +22,7 @@ fileeval $cfPath(motors)/motor_configuration.tcl
 
 fileeval $cfPath(source)/source.tcl
 source $cfPath(hipadaba)/hipadaba_configuration.tcl
+fileeval $cfPath(motors)/positmotor_configuration.tcl
 fileeval $cfPath(plc)/plc.tcl
 fileeval $cfPath(counter)/counter.tcl
 fileeval $cfPath(hmm)/hmm_configuration.tcl

site_ansto/instrument/sans/config/INSTCFCOMMON.TXT

@@ -11,3 +11,4 @@ config/scan/scan_common_1.hdd
 config/scan/scan_common_1.tcl
 config/nexus/nxscripts_common_1.tcl
 config/commands/commands_common.tcl
+config/motors/sct_positmotor_common.tcl

site_ansto/instrument/sans/config/motors/positmotor_configuration.tcl

@@ -0,0 +1,12 @@
+source $cfPath(motors)/sct_positmotor_common.tcl
+
+set port [::utility::get_portnum pmc1-quokka]
+makesctcontroller sct_mc1 std localhost:$port
+
+mk_sct_positmotor sct_mc1 samx samplenum C {
+1 0
+2 15
+3 20
+}
+
+

site_ansto/instrument/sans/extraconfig.tcl

@@ -48,13 +48,3 @@ proc pop { which } {
 }
 publish pop user
 
-  # TODO SICS-198 add feedback support to getset macro generator
-  foreach pname {AttRotDeg RotApDeg} {
-    hmake /instrument/parameters/derived_parameters/$pname/feedback spy none
-    hsetprop /instrument/parameters/derived_parameters/$pname/feedback data false
-    hsetprop /instrument/parameters/derived_parameters/$pname/feedback control true
-    hattach /instrument/parameters/derived_parameters/$pname/feedback ${pname}_status status
-    hsetprop /instrument/parameters/derived_parameters/$pname/feedback/status control true
-    hsetprop /instrument/parameters/derived_parameters/$pname/feedback/status data false
-    hsetprop /instrument/parameters/derived_parameters/$pname/feedback/status nxsave false
-  }

site_ansto/instrument/sans/quokka_configuration.tcl

@@ -1,5 +1,5 @@
-# $Revision: 1.14 $
+# $Revision: 1.15 $
-# $Date: 2008-10-20 00:08:31 $
+# $Date: 2008-10-27 04:55:47 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by: $Author: ffr $
 
@@ -22,6 +22,7 @@ fileeval $cfPath(motors)/motor_configuration.tcl
 
 fileeval $cfPath(source)/source.tcl
 source $cfPath(hipadaba)/hipadaba_configuration.tcl
+fileeval $cfPath(motors)/positmotor_configuration.tcl
 fileeval $cfPath(parameters)/parameters.tcl
 fileeval $cfPath(velsel)/velsel.tcl
 fileeval $cfPath(plc)/plc.tcl
@@ -43,3 +44,14 @@ server_init
 # WARNING: Do not add any code below server_init, if you do SICS may fail to initialise properly.
 
 # You can add extra-configuration code in ../extraconfig.tcl
+
+  # TODO SICS-198 add feedback support to getset macro generator
+  foreach pname {AttRotDeg RotApDeg} {
+    hmake /instrument/parameters/derived_parameters/$pname/feedback spy none
+    hsetprop /instrument/parameters/derived_parameters/$pname/feedback data false
+    hsetprop /instrument/parameters/derived_parameters/$pname/feedback control true
+    hattach /instrument/parameters/derived_parameters/$pname/feedback ${pname}_status status
+    hsetprop /instrument/parameters/derived_parameters/$pname/feedback/status control true
+    hsetprop /instrument/parameters/derived_parameters/$pname/feedback/status data false
+    hsetprop /instrument/parameters/derived_parameters/$pname/feedback/status nxsave false
+  }

site_ansto/instrument/server_config.tcl

@@ -1,7 +1,7 @@
 # SICS common configuration
 
-# $Revision: 1.44 $
+# $Revision: 1.45 $
-# $Date: 2008-10-20 00:08:30 $
+# $Date: 2008-10-27 04:55:40 $
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 # Last revision by $Author: ffr $
 # RELEASE_NUMBER: $Name: not supported by cvs2svn $
@@ -139,7 +139,7 @@ sics_release [lindex $tmpstr [expr [llength $tmpstr] - 1]]
 sics_release lock
 
 ::utility::mkVar sics_revision_num Text internal
-set tmpstr [string map {"$" ""} {$Revision: 1.44 $}]
+set tmpstr [string map {"$" ""} {$Revision: 1.45 $}]
 sics_revision_num [lindex $tmpstr [expr [llength $tmpstr] - 1]]
 sics_revision_num lock
 
@@ -227,18 +227,18 @@ proc server_set_sobj_attributes {} {
 
 proc server_init {} {
   if [ catch {
-    ########
-    # Parameters set above the restore command will be clobbered by
-    # the values in the status.tcl file
-    if [file exists $::sicsroot/log/status.tcl ] {
-      restore
-    }
     ::source::isc_initialize
     ::counter::isc_initialize
     ::histogram_memory::isc_initialize
     ::scan::isc_initialize
     ::anticollider::init
     ::commands::isc_initialize
+    ########
+    # Parameters set above the restore command will be clobbered by
+    # the values in the status.tcl file
+    if [file exists $::sicsroot/log/status.tcl ] {
+      restore
+    }
     MakeStateMon hmscan
     sicslist setatt sics_suid privilege readonly
     sicslist setatt sics_suid klass data

site_ansto/instrument/util/motor_utility.tcl

@@ -1,10 +1,66 @@
 # Some useful functions for SICS motor configuration.
 
-# $Revision: 1.3 $
+# $Revision: 1.4 $
-# $Date: 2008-09-23 22:44:01 $
+# $Date: 2008-10-27 04:55:48 $
 # Author: Douglas Clowes (dcl@ansto.gov.au)
 # Last revision by $Author: ffr $
 
+proc relmove {runcmd args} {
+  if [ catch {
+    if {[llength $args] == 1} {
+      set arguments [lindex $args 0]
+    } else {
+      set arguments $args
+    }
+
+    array set motoffset $arguments
+    foreach motor [array names motoffset] {
+      set currpos [SplitReply [$motor]]
+      lappend motdest $motor [expr $currpos + $motoffset($motor)]
+    }
+    switch $runcmd {
+      "relrun" {
+        eval "run $motdest"
+      }
+      "reldrive" {
+        eval "drive $motdest"
+      }
+    }
+  } message ] {
+    if {$::errorCode=="NONE"} {return }
+    return -code error $message
+  }
+}
+
+proc relrun {args} {
+  if [ catch {
+    relmove "relrun" $args
+  } message ] {
+    if {$::errorCode=="NONE"} {return }
+    return -code error $message
+  }
+}
+publish relrun user
+
+proc reldrive {args} {
+  if [ catch {
+    relmove "reldrive" $args
+  } message ] {
+    if {$::errorCode=="NONE"} {return }
+    return -code error $message
+  } 
+}
+publish reldrive user
+
+##
+# @brief  A convenience command for fetching motor parameter values
+#
+# This convenience command is useful for avoiding command 
+# substitution problems when defining hdb node read scripts.
+proc getmotpar {motor par} {
+  return  [SplitReply [$motor $par]]
+}
+
 # Functions for the slit motors (echidna, wombat, platypus, ...)
 #
 # functions used by the generated functions