Reasonably working Knauer pump driver
This commit is contained in:
Douglas Clowes
@ -39,21 +39,20 @@ driver knauer_pump = {
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readable = 1;
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read_command = ' ';
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fetch_function = volume_fetch;
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#checkrange_function = volume_reject;
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property 'units' = 'mL';
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}
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var setp = {
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type = float;
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writeable = 1;
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write_command = ' ';
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write_function = pump_write;
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write_function = volume_write;
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driveable = pump/volume/pval;
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checkstatus_function = pump_checkstatus;
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halt_function = pump_halt;
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checkstatus_function = volume_checkstatus;
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halt_function = volume_halt;
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lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
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readable = 1;
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read_command = ' ';
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fetch_function = pump_fetch;
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fetch_function = volume_fsm;
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property 'units' = 'mL';
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property this_state = 0;
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}
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@ -81,84 +80,12 @@ driver knauer_pump = {
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type = float;
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value = 1.0;
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writeable = 1; write_command = ' '; write_function = flow_write;
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lowerlimit = 0; upperlimit = 10;
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lowerlimit = 0; upperlimit = 9.999;
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property 'units' = 'mL/min';
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}
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}
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}
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group grp_stuff = {
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readable = 600;
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type = text;
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data = false; control = false; nxsave = false;
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var an_out = { read_command = 'AN_OUT?'; }
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var boardinfo = { read_command = 'BOARDINFO?'; }
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var config = { read_command = 'CONFIG?'; }
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var cprofinfo = { read_command = 'CPROFINFO?'; }
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var dout = { read_command = 'DOUT?'; }
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var error = { read_command = 'ERROR?'; }
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var errors = { read_command = 'ERRORS?'; }
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var flushpmp = { read_command = 'FLUSHPMP?'; }
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var head = { read_command = 'HEAD?'; }
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var head_par = { read_command = 'HEAD_PAR?'; }
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var identify = { read_command = 'IDENTIFY?'; }
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var lpg = { read_command = 'LPG?'; }
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var oem = { read_command = 'OEM?'; }
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var opt = { read_command = 'OPT?'; }
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var plim = { read_command = 'PLIM?'; }
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var pressure = { read_command = 'PRESSURE?'; }
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var prfastacq = { read_command = 'PRFASTACQ?'; }
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var purge = { read_command = 'PURGE?'; }
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var remote = { read_command = 'REMOTE?'; }
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var rfid = { read_command = 'RFID?'; }
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var service = { read_command = 'SERVICE?'; }
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var sysinfo = { read_command = 'SYSINFO?'; }
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var 'units' = { read_command = 'UNITS?'; }
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var valves = { read_command = 'VALVES?'; }
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}
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group grp_glp = {
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type = text;
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readable = 1;
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fetch_function = fetch_from_glp;
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var board_time = { read_command = '0'; }
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var motor_time = { read_command = '1'; }
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var head_count = { read_command = '3'; }
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var head_time = { read_command = '4'; }
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var head_volm = { read_command = '5'; }
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var head_voln = { read_command = '6'; }
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var head_pwrhi = { read_command = '7'; }
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var head_pwrlo = { read_command = '8'; }
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var pump_revs = { read_command = '9'; }
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var pump_volm = { read_command = '10'; }
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var pump_voln = { read_command = '11'; }
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var pump_pwrhi = { read_command = '12'; }
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var pump_pwrlo = { read_command = '13'; }
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}
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group grp_status = {
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type = text;
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readable = 1;
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fetch_function = fetch_from_status;
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var state = { read_command = '1'; }
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var cur_error = { read_command = '2'; }
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var cur_run_time = { read_command = '3'; }
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var flow_rate = { read_command = '4'; }
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var lpg_0 = { read_command = '5'; }
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var lpg_1 = { read_command = '6'; }
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var lpg_2 = { read_command = '7'; }
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var lpg_3 = { read_command = '8'; }
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var evt_0 = { read_command = '9'; }
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var evt_1 = { read_command = '10'; }
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var evt_2 = { read_command = '11'; }
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var evt_3 = { read_command = '12'; }
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var evt_4 = { read_command = '13'; }
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var evt_5 = { read_command = '14'; }
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var evt_6 = { read_command = '15'; }
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var evt_7 = { read_command = '16'; }
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var cur_pres = { read_command = '17'; }
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var start_in = { read_command = '18'; }
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var error_in = { read_command = '19'; }
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}
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#
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# Ensure the pump starts up in REMOTE mode
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#
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@ -177,18 +104,6 @@ driver knauer_pump = {
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}
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%%}
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code fetch_from_glp = {%%
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set index ${cmd_str}
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set data [hgetpropval ${tc_root}/dummy/glp real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > ${index} } {
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sct result [lindex ${dlist} ${index}]
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} else {
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sct result ""
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}
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set cmd "@@NOSEND@@"
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%%}
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#
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# These functions handle the real_data returned by the pump for the STATUS? command
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#
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@ -198,18 +113,6 @@ driver knauer_pump = {
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set data "Hidden in real_data property"
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%%}
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code fetch_from_status = {%%
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set index ${cmd_str}
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > ${index} } {
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sct result [lindex ${dlist} ${index}]
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} else {
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sct result ""
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}
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set cmd "@@NOSEND@@"
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%%}
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#
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# Decode the status from the real_data to PUMPING if it is pumping else IDLE
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#
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@ -250,6 +153,7 @@ driver knauer_pump = {
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"SYS_ST_HOLD" \
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"SYS_ST_PURGE" \
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"SYS_ST_STANDBY" \
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"SYS_ST_SEVEN" \
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"SYS_ST_FAILED" \
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"SYS_ST_RUNATEND" \
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]
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@ -357,8 +261,7 @@ driver knauer_pump = {
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set cmd "@@NOSEND@@"
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%%}
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##########
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code pump_write = {%%
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code volume_write = {%%
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hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
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hset ${tc_root}/[sct driveable] 0.0
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set cmd "REMOTE"
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@ -373,7 +276,7 @@ driver knauer_pump = {
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}
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%%}
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code pump_fetch = {%%
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code volume_fsm = {%%
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if { [sct this_state] > 0 } {
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set flow_tgt [expr {int(1000.0 * [hval ${tc_root}/pump/flow/setp])}]
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio/setp] /] ,]
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@ -396,6 +299,12 @@ driver knauer_pump = {
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} elseif { [sct this_state] == 5 } {
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set cmd "START:1,0"
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sct this_state 0
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} elseif { [sct this_state] == 91 } {
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set cmd "STOP:1,0"
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sct this_state 92
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} elseif { [sct this_state] == 92 } {
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set cmd "STOP:0,0"
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sct this_state 0
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} else {
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sct this_state 0
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set cmd "@@NOSEND@@"
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@ -405,15 +314,13 @@ driver knauer_pump = {
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set cmd "@@NOSEND@@"
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set nextState idle
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if { [hpropexists [sct] pumping] && [sct pumping] } {
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if { [hpropexists [sct] driving] && [sct driving] } {
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pump_checkstatus "${tc_root}"
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}
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set new_value [hval ${tc_root}/pump/status]
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set old_value [sct oldval]
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if {${new_value} != ${old_value}} {
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sct oldval ${new_value}
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if {${old_value} == "PUMPING" && ${new_value} == "IDLE"} {
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set cmd "STOP"
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set cmd "STOP:0,0"
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sct this_state 91
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set nextState noResponse
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sct result ""
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sct driving 0
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@ -424,59 +331,11 @@ driver knauer_pump = {
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}
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%%}
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code pump_halt = {%%
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set flow_tgt 0
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
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set cmd "STOP"
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sct send ${cmd}
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%%}
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##########
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code volume_write = {%%
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hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
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hset ${tc_root}/[sct driveable] 0.0
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set flow_tgt [expr {int(1000.0 * [hval ${tc_root}/pump/flow_sp])}]
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
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set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,3"
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sct pumping 1
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set data ${par}
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if { ${data} != [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 ${data}
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sct utime readtime
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}
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%%}
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code volume_checkpumping = {%%
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set cmd "@@NOSEND@@"
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set nextState idle
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if { [hpropexists [sct] pumping] && [sct pumping] } {
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if { [hpropexists [sct] driving] && [sct driving] } {
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volume_checkstatus "${tc_root}"
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}
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set sp "[sct target]"
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set pv "[hval ${tc_root}/[sct driveable]]"
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if { (${sp} - ${pv}) <= [sct tolerance] } {
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set flow_tgt 0
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
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set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
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set nextState noResponse
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sct result ""
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sct driving 0
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sct pumping 0
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}
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}
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%%}
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code volume_halt = {%%
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set flow_tgt 0
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
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set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
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set cmd "STOP:0,0"
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sct this_state 91
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debug_log ${tc_root} 1 "volume_halt sct send ${cmd}"
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sct send ${cmd}
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%%}
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code volume_reject = {%%
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sct geterror "cannot use hset on [sct]"
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error "[sct geterror]"
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%%}
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}
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