update for Lyrebird deployment

r3105 | jgn | 2011-04-20 08:48:12 +1000 (Wed, 20 Apr 2011) | 1 line

site_ansto/instrument/lyrebird/config/tasmad/sicscommon/motorhp.tcl

@@ -0,0 +1,82 @@
+#---------------------------------------------------------------------------
+# These scripts save and load motor positions for EL734 motors connected
+# directly to SICS through the terminal server. For all others, use
+# David Madens el734_motor program
+#
+# Mark Koennecke, April 2004
+#-------------------------------------------------------------------------
+
+if { ![info exists motorhpscript] } {
+    set motorhpscript 1
+    Publish motorinternsave Mugger
+    Publish motorsave     Mugger
+    Publish motorload     Mugger
+    Publish loadmotordir  Mugger
+    Publish savemotorarray Mugger
+}
+
+#----------------------------------------------------------------------
+# save motor parameters from controller, number to file described by
+# file descriptor fd
+#----------------------------------------------------------------------
+proc motorinternsave {controller number fd} {
+    lappend parlist mn ec ep a fd fm d e f g h j k l m q t v w z mem
+    puts $fd [format "%s send ec %d 0 0" $controller $number]
+    foreach e $parlist {
+	set data [$controller send $e $number]
+	puts $fd [format "%s send %s %d %s" $controller $e $number $data]
+    }
+}
+#----------------------------------------------------------------------
+# save a motor parameter set to a directory. The filename is automatically
+# created in order to help motorload
+#---------------------------------------------------------------------
+proc motorsave {controller number dirname} {
+    set filename [format "%s/%s%2.2d.par" $dirname $controller $number]
+    set f [open $filename w]
+    motorinternsave $controller $number $f
+    close $f
+}
+#----------------------------------------------------------------------------
+# Loading motor parameters. Because some of the commands change the position
+# of the motor, the position is saved first and redefined after processing
+# the data. It is assumed that the filename is in the format as made
+# by motorsave.
+#---------------------------------------------------------------------------
+proc motorload {filename} {
+    set fil [file tail $filename]
+    set ind [string last . $fil]
+    set number [string range $fil [expr $ind - 2] [expr $ind - 1]]
+    set controller [string range $fil 0 [expr $ind - 3]]
+    set pos [$controller send u $number]
+    fileeval $filename
+    $controller send uu $number $pos
+}
+#--------------------------------------------------------------------------
+# load a motor directory
+#------------------------------------------------------------------------
+proc loadmotordir {dirname} {
+    set l [glob $dirname/*.par]
+    foreach e $l {       
+	set ret [catch {motorload $e} msg]
+	if { $ret != 0} {
+	    clientput "ERROR: failed to load $e with $msg"
+	}
+    }
+}
+#-----------------------------------------------------------------------
+# save a whole array of motors. The array must have the following form:
+# An entry: controllerlist conatins a list of all controllers
+# There exists an entry with the controller name in the array which contains
+# a list of motor number
+#------------------------------------------------------------------------
+proc savemotorarray {motar dir} {
+    upvar $motar motorarray
+    set controllerList $motorarray(controllerlist)
+    foreach controller $controllerList {
+	set motlist $motorarray($controller)
+	foreach mot $motlist {
+	    motorsave $controller $mot $dir
+	}
+    }
+}