Reasonably working Knauer pump driver

site_ansto/instrument/config/environment/knauer_pump.sct

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