From 9752c6dbafb42509981af1530491dd41cc8a79b2 Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Fri, 18 Jul 2014 14:33:16 +1000
Subject: [PATCH] Fix list of apertures which should be raised before moving
 guides. Optimise aperture selection.

---
 .../config/motors/motor_configuration.tcl     | 36 ++++++++++---------
 1 file changed, 20 insertions(+), 16 deletions(-)

diff --git a/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl b/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl
index a42d467c..c682daaf 100644
--- a/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl
+++ b/site_ansto/instrument/bilby/config/motors/motor_configuration.tcl
@@ -125,11 +125,11 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
     if {$num != "REPORTNUM"} {
       if {$num >= 0 && $num < 8} {
         if { $sel_ap_name == "NONE" || $aprest_name == "NONE" } {
-          error "EMSG(invalidarg): You must provide two aperture arguments"
+          error "$EMSG(invalidarg): You must provide two aperture arguments"
         } elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } {
-          error "EMSG(invalidarg): $sel_ap_name should be one of $ap_names"
+          error "$EMSG(invalidarg): $sel_ap_name should be one of $ap_names"
         } elseif { [lsearch -nocase $ap_names $aprest_name] == -1 } {
-          error "EMSG(invalidarg): $aprest_name should be one of $ap_names"
+          error "$EMSG(invalidarg): $aprest_name should be one of $ap_names"
         }
       }
       if {$num >= 0 && $num <= 8} {
@@ -140,7 +140,7 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
           set table_guideunit [SplitReply [pc$last posit2unit $guideposit]]
           if {[expr {abs($currpos - $table_guideunit)}] > $tol} {
             lappend pcdrvlist c$last $guideposit
-            lappend apdrvlist ap$n 1
+            lappend apdrvlist ap$last 1
           }
           incr last -1
         }
@@ -192,21 +192,25 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
       if {$ng != $num} {
         error "$EMSG(drivefailed)"
       } elseif {$num >= 0 && $num < 8} {
-        set aprest_list {}
-        for {set n [expr $last - 1]} {$n > 0} {incr n -1} {
-          lappend aprest_list ap$n $aprest_name
-        }
-        pdrive ap$last $sel_ap_name {*}$aprest_list
+        set ap_target_list {}
         set sel_ap_pos [SplitReply [ ap$last ]]
         set req_sel_ap_pos [ SplitReply [ ap$last posit2unit $sel_ap_name ] ]
-        set prec [ SplitReply [ap$last precision] ]
-        if { [expr abs($req_sel_ap_pos - $sel_ap_pos)] > $prec } {
-          error "$EMSG(apfailed): ap$last"
+        set sel_ap_prec [ SplitReply [ap$last precision] ]
+        if { [expr abs($req_sel_ap_pos - $sel_ap_pos)] > $sel_ap_prec } {
+          lappend ap_target_list ap$last $sel_ap_name
         }
-        foreach {ap_mot ap_name} $aprest_list {
-          set sel_pos [SplitReply [ $ap_mot ]]
-          set req_pos [ SplitReply [ $ap_mot posit2unit $ap_name ] ]
-          set prec [ SplitReply [$ap_mot precision] ]
+        for {set n [expr $last - 1]} {$n > 0} {incr n -1} {
+          set sel_pos [SplitReply [ ap$n ]]
+          set req_pos [ SplitReply [ ap$n posit2unit $aprest_name ] ]
+          set prec [ SplitReply [ap$n precision] ]
+          if { [expr abs($req_pos - $sel_pos)] > $prec } {
+            lappend ap_target_list ap$n $aprest_name
+          }
+        }
+        if {[llength $ap_target_list] > 0} {
+          pdrive {*}$ap_target_list
+        }
+        foreach {ap_mot ap_name} $ap_target_list {
           if { [expr abs($req_pos - $sel_pos)] > $prec } {
             error "$EMSG(apfailed): $ap_mot"
           }