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Major revision of the Knauer pump driver

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This commit is contained in:
Douglas Clowes
2014-10-07 15:03:28 +11:00
parent 591c602da2
commit a51ce71999
2 changed files with 321 additions and 119 deletions
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328
site_ansto/instrument/config/environment/sct_knauer_pump.tcl
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@@ -238,6 +238,169 @@ proc ::scobj::knauer_pump::noResponse {tc_root} {
handle_exception ${catch_status} ${catch_message}
}
# checkstatus function for driveable interface
proc ::scobj::knauer_pump::pump_checkstatus {tc_root} {
set catch_status [ catch {
# pump_checkstatus hook code goes here
if {[sct driving]} {
set sp "[sct target]"
set pv "[hval ${tc_root}/[sct driveable]]"
if { abs(${pv} - ${sp}) <= [sct tolerance] } {
if { [hpropexists [sct] settle_time] } {
if { [hpropexists [sct] settle_time_start] } {
if { [sct utime] - [sct settle_time_start] >= [sct settle_time]} {
sct driving 0
return "idle"
}
return "busy"
} else {
sct utime settle_time_start
return "busy"
}
}
sct driving 0
return "idle"
}
if { [hpropexists [sct] settle_time_start] } {
hdelprop [sct] settle_time_start
}
return "busy"
} else {
return "idle"
}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to request the read of a parameter on a device
proc ::scobj::knauer_pump::pump_fetch {tc_root nextState cmd_str} {
set catch_status [ catch {
debug_log ${tc_root} 1 "pump_fetch tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set cmd "${cmd_str}"
# pump_fetch hook code starts
if { [sct this_state] > 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 time_tgt [expr {int(60000.0 * 1000.0 * [sct target] / ${flow_tgt})}]
set time_1 [expr {${time_tgt} - 500}]
set time_2 [expr {${time_tgt} + 500}]
set nextState noResponse
if { [sct this_state] == 1 } {
set cmd "TT_LOAD:1"
sct this_state [expr {[sct this_state] + 1}]
} elseif { [sct this_state] == 2 } {
set cmd "TT_SET:0,0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
sct this_state [expr {[sct this_state] + 1}]
} elseif { [sct this_state] == 3 } {
set cmd "TT_SET:1,${time_1},${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
sct this_state [expr {[sct this_state] + 1}]
} elseif { [sct this_state] == 4 } {
set cmd "TT_SET:2,${time_2},0,${ratio_tgt},0,0,0,0,0,0,0,0"
sct this_state [expr {[sct this_state] + 1}]
} elseif { [sct this_state] == 5 } {
set cmd "START:1,0"
sct this_state 0
} else {
sct this_state 0
set cmd "@@NOSEND@@"
set nextState idle
}
} else {
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 nextState noResponse
sct result ""
sct driving 0
sct pumping 0
}
}
}
}
# pump_fetch hook code ends
if { [hpropexists [sct] geterror] } {
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
error "[sct geterror]"
}
debug_log ${tc_root} 1 "pump_fetch sct send ${cmd}"
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
sct send "${cmd}"
}
return ${nextState}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# halt function for driveable interface
proc ::scobj::knauer_pump::pump_halt {tc_root} {
set catch_status [ catch {
debug_log ${tc_root} 1 "pump_halt tc_root=${tc_root} sct=[sct] driving=[sct driving]"
### TODO hset [sct] [hval [sct]]
# pump_halt hook code starts
set flow_tgt 0
set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
set cmd "STOP"
sct send ${cmd}
# pump_halt hook code ends
sct driving 0
return "idle"
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# function to write a parameter value on a device
proc ::scobj::knauer_pump::pump_write {tc_root nextState cmd_str} {
set catch_status [ catch {
debug_log ${tc_root} 1 "pump_write tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
if { [hpropexists [sct] geterror] } {
hdelprop [sct] geterror
}
set par [sct target]
set cmd "${cmd_str}${par}"
# pump_write hook code starts
hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
hset ${tc_root}/[sct driveable] 0.0
set cmd "REMOTE"
sct this_state 1
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
}
# pump_write hook code ends
if { [hpropexists [sct] geterror] } {
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
error "[sct geterror]"
}
if { [hpropexists [sct] driving] } {
if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
sct driving 1
}
}
debug_log ${tc_root} 1 "pump_write sct send ${cmd}"
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
sct send "${cmd}"
}
return ${nextState}
} catch_message ]
handle_exception ${catch_status} ${catch_message}
}
# check function for hset change
proc ::scobj::knauer_pump::ratios_check {tc_root} {
set catch_status [ catch {
@@ -631,6 +794,7 @@ proc ::scobj::knauer_pump::volume_checkpumping {tc_root nextState cmd_str} {
set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
set nextState noResponse
sct result ""
sct driving 0
sct pumping 0
}
@@ -1023,86 +1187,6 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
::scobj::knauer_pump::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for knauer_pump"
}
hfactory ${scobj_hpath}/prog plain spy none
hsetprop ${scobj_hpath}/prog data "true"
hsetprop ${scobj_hpath}/prog klass "@none"
hsetprop ${scobj_hpath}/prog type "part"
hfactory ${scobj_hpath}/prog/line_01 plain user text
hsetprop ${scobj_hpath}/prog/line_01 read ${ns}::getValue ${scobj_hpath} rdValue {TT_GET:1,1}
hsetprop ${scobj_hpath}/prog/line_01 rdValue ${ns}::rdValue ${scobj_hpath}
hsetprop ${scobj_hpath}/prog/line_01 control true
hsetprop ${scobj_hpath}/prog/line_01 data true
hsetprop ${scobj_hpath}/prog/line_01 mutable true
hsetprop ${scobj_hpath}/prog/line_01 nxsave true
hsetprop ${scobj_hpath}/prog/line_01 oldval UNKNOWN
hsetprop ${scobj_hpath}/prog/line_01 klass "parameter"
hsetprop ${scobj_hpath}/prog/line_01 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/prog/line_01 type "part"
hsetprop ${scobj_hpath}/prog/line_01 nxalias "${name}_prog_line_01"
hfactory ${scobj_hpath}/prog/line_02 plain user text
hsetprop ${scobj_hpath}/prog/line_02 read ${ns}::getValue ${scobj_hpath} rdValue {TT_GET:1,2}
hsetprop ${scobj_hpath}/prog/line_02 rdValue ${ns}::rdValue ${scobj_hpath}
hsetprop ${scobj_hpath}/prog/line_02 control true
hsetprop ${scobj_hpath}/prog/line_02 data true
hsetprop ${scobj_hpath}/prog/line_02 mutable true
hsetprop ${scobj_hpath}/prog/line_02 nxsave true
hsetprop ${scobj_hpath}/prog/line_02 oldval UNKNOWN
hsetprop ${scobj_hpath}/prog/line_02 klass "parameter"
hsetprop ${scobj_hpath}/prog/line_02 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/prog/line_02 type "part"
hsetprop ${scobj_hpath}/prog/line_02 nxalias "${name}_prog_line_02"
hfactory ${scobj_hpath}/prog/line_03 plain user text
hsetprop ${scobj_hpath}/prog/line_03 read ${ns}::getValue ${scobj_hpath} rdValue {TT_GET:1,3}
hsetprop ${scobj_hpath}/prog/line_03 rdValue ${ns}::rdValue ${scobj_hpath}
hsetprop ${scobj_hpath}/prog/line_03 control true
hsetprop ${scobj_hpath}/prog/line_03 data true
hsetprop ${scobj_hpath}/prog/line_03 mutable true
hsetprop ${scobj_hpath}/prog/line_03 nxsave true
hsetprop ${scobj_hpath}/prog/line_03 oldval UNKNOWN
hsetprop ${scobj_hpath}/prog/line_03 klass "parameter"
hsetprop ${scobj_hpath}/prog/line_03 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/prog/line_03 type "part"
hsetprop ${scobj_hpath}/prog/line_03 nxalias "${name}_prog_line_03"
hfactory ${scobj_hpath}/prog/line_04 plain user text
hsetprop ${scobj_hpath}/prog/line_04 read ${ns}::getValue ${scobj_hpath} rdValue {TT_GET:1,4}
hsetprop ${scobj_hpath}/prog/line_04 rdValue ${ns}::rdValue ${scobj_hpath}
hsetprop ${scobj_hpath}/prog/line_04 control true
hsetprop ${scobj_hpath}/prog/line_04 data true
hsetprop ${scobj_hpath}/prog/line_04 mutable true
hsetprop ${scobj_hpath}/prog/line_04 nxsave true
hsetprop ${scobj_hpath}/prog/line_04 oldval UNKNOWN
hsetprop ${scobj_hpath}/prog/line_04 klass "parameter"
hsetprop ${scobj_hpath}/prog/line_04 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/prog/line_04 type "part"
hsetprop ${scobj_hpath}/prog/line_04 nxalias "${name}_prog_line_04"
hfactory ${scobj_hpath}/prog/line_05 plain user text
hsetprop ${scobj_hpath}/prog/line_05 read ${ns}::getValue ${scobj_hpath} rdValue {TT_GET:1,5}
hsetprop ${scobj_hpath}/prog/line_05 rdValue ${ns}::rdValue ${scobj_hpath}
hsetprop ${scobj_hpath}/prog/line_05 control true
hsetprop ${scobj_hpath}/prog/line_05 data true
hsetprop ${scobj_hpath}/prog/line_05 mutable true
hsetprop ${scobj_hpath}/prog/line_05 nxsave true
hsetprop ${scobj_hpath}/prog/line_05 oldval UNKNOWN
hsetprop ${scobj_hpath}/prog/line_05 klass "parameter"
hsetprop ${scobj_hpath}/prog/line_05 sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/prog/line_05 type "part"
hsetprop ${scobj_hpath}/prog/line_05 nxalias "${name}_prog_line_05"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/prog/line_01 30
${sct_controller} poll ${scobj_hpath}/prog/line_02 30
${sct_controller} poll ${scobj_hpath}/prog/line_03 30
${sct_controller} poll ${scobj_hpath}/prog/line_04 30
${sct_controller} poll ${scobj_hpath}/prog/line_05 30
} else {
::scobj::knauer_pump::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for knauer_pump"
}
hfactory ${scobj_hpath}/pump plain spy none
hsetprop ${scobj_hpath}/pump data "true"
hsetprop ${scobj_hpath}/pump klass "@none"
@@ -1132,13 +1216,40 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
hsetprop ${scobj_hpath}/pump/flow_sp nxsave true
hsetprop ${scobj_hpath}/pump/flow_sp lowerlimit 0
hsetprop ${scobj_hpath}/pump/flow_sp upperlimit 10
hsetprop ${scobj_hpath}/pump/flow_sp oldval 0.0
hsetprop ${scobj_hpath}/pump/flow_sp oldval 1.0
hset ${scobj_hpath}/pump/flow_sp 1.0
hsetprop ${scobj_hpath}/pump/flow_sp klass "parameter"
hsetprop ${scobj_hpath}/pump/flow_sp sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/pump/flow_sp type "part"
hsetprop ${scobj_hpath}/pump/flow_sp units "mL/min"
hsetprop ${scobj_hpath}/pump/flow_sp nxalias "${name}_pump_flow_sp"
hfactory ${scobj_hpath}/pump/pump_sp plain user float
hsetprop ${scobj_hpath}/pump/pump_sp read ${ns}::pump_fetch ${scobj_hpath} rdValue { }
hsetprop ${scobj_hpath}/pump/pump_sp rdValue ${ns}::rdValue ${scobj_hpath}
hsetprop ${scobj_hpath}/pump/pump_sp write ${ns}::pump_write ${scobj_hpath} noResponse { }
hsetprop ${scobj_hpath}/pump/pump_sp noResponse ${ns}::noResponse ${scobj_hpath}
hsetprop ${scobj_hpath}/pump/pump_sp check ${ns}::checkrange ${scobj_hpath}
hsetprop ${scobj_hpath}/pump/pump_sp driving 0
hsetprop ${scobj_hpath}/pump/pump_sp checklimits ${ns}::checklimits ${scobj_hpath}
hsetprop ${scobj_hpath}/pump/pump_sp checkstatus ${ns}::pump_checkstatus ${scobj_hpath}
hsetprop ${scobj_hpath}/pump/pump_sp halt ${ns}::pump_halt ${scobj_hpath}
hsetprop ${scobj_hpath}/pump/pump_sp driveable pump/volume_pv
hsetprop ${scobj_hpath}/pump/pump_sp control true
hsetprop ${scobj_hpath}/pump/pump_sp data true
hsetprop ${scobj_hpath}/pump/pump_sp mutable true
hsetprop ${scobj_hpath}/pump/pump_sp nxsave true
hsetprop ${scobj_hpath}/pump/pump_sp lowerlimit 0
hsetprop ${scobj_hpath}/pump/pump_sp upperlimit 100
hsetprop ${scobj_hpath}/pump/pump_sp tolerance 0.01
hsetprop ${scobj_hpath}/pump/pump_sp oldval 0.0
hsetprop ${scobj_hpath}/pump/pump_sp klass "parameter"
hsetprop ${scobj_hpath}/pump/pump_sp sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/pump/pump_sp this_state "0"
hsetprop ${scobj_hpath}/pump/pump_sp type "drivable"
hsetprop ${scobj_hpath}/pump/pump_sp units "mL"
hsetprop ${scobj_hpath}/pump/pump_sp nxalias "${name}_pump_pump_sp"
hfactory ${scobj_hpath}/pump/ratio_pv plain user text
hsetprop ${scobj_hpath}/pump/ratio_pv read ${ns}::ratios_fetch ${scobj_hpath} rdValue { }
hsetprop ${scobj_hpath}/pump/ratio_pv rdValue ${ns}::rdValue ${scobj_hpath}
@@ -1161,7 +1272,8 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
hsetprop ${scobj_hpath}/pump/ratio_sp data true
hsetprop ${scobj_hpath}/pump/ratio_sp mutable true
hsetprop ${scobj_hpath}/pump/ratio_sp nxsave true
hsetprop ${scobj_hpath}/pump/ratio_sp oldval UNKNOWN
hsetprop ${scobj_hpath}/pump/ratio_sp oldval 25/25/25/25
hset ${scobj_hpath}/pump/ratio_sp 25/25/25/25
hsetprop ${scobj_hpath}/pump/ratio_sp klass "parameter"
hsetprop ${scobj_hpath}/pump/ratio_sp sdsinfo "::nexus::scobj::sdsinfo"
hsetprop ${scobj_hpath}/pump/ratio_sp type "part"
@@ -1178,6 +1290,7 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
hsetprop ${scobj_hpath}/pump/remote data true
hsetprop ${scobj_hpath}/pump/remote mutable true
hsetprop ${scobj_hpath}/pump/remote nxsave true
hsetprop ${scobj_hpath}/pump/remote values 0,1
hsetprop ${scobj_hpath}/pump/remote oldval 0
hsetprop ${scobj_hpath}/pump/remote klass "parameter"
hsetprop ${scobj_hpath}/pump/remote sdsinfo "::nexus::scobj::sdsinfo"
@@ -1251,6 +1364,7 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/pump/flow_pv 1
${sct_controller} poll ${scobj_hpath}/pump/pump_sp 1
${sct_controller} poll ${scobj_hpath}/pump/ratio_pv 1
${sct_controller} poll ${scobj_hpath}/pump/remote 1
${sct_controller} poll ${scobj_hpath}/pump/state 1
@@ -1258,6 +1372,7 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
${sct_controller} poll ${scobj_hpath}/pump/volume_pv 1
${sct_controller} poll ${scobj_hpath}/pump/volume_sp 1
${sct_controller} write ${scobj_hpath}/pump/flow_sp
${sct_controller} write ${scobj_hpath}/pump/pump_sp
${sct_controller} write ${scobj_hpath}/pump/ratio_sp
${sct_controller} write ${scobj_hpath}/pump/remote
${sct_controller} write ${scobj_hpath}/pump/volume_sp
@@ -1835,30 +1950,30 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
hsetprop ${scobj_hpath}/stuff/valves nxalias "${name}_stuff_valves"
if {[string equal -nocase "${simulation_flag}" "false"]} {
${sct_controller} poll ${scobj_hpath}/stuff/an_out 60
${sct_controller} poll ${scobj_hpath}/stuff/boardinfo 60
${sct_controller} poll ${scobj_hpath}/stuff/config 60
${sct_controller} poll ${scobj_hpath}/stuff/cprofinfo 60
${sct_controller} poll ${scobj_hpath}/stuff/dout 60
${sct_controller} poll ${scobj_hpath}/stuff/error 60
${sct_controller} poll ${scobj_hpath}/stuff/errors 60
${sct_controller} poll ${scobj_hpath}/stuff/flushpmp 60
${sct_controller} poll ${scobj_hpath}/stuff/head 60
${sct_controller} poll ${scobj_hpath}/stuff/head_par 60
${sct_controller} poll ${scobj_hpath}/stuff/identify 60
${sct_controller} poll ${scobj_hpath}/stuff/lpg 60
${sct_controller} poll ${scobj_hpath}/stuff/oem 60
${sct_controller} poll ${scobj_hpath}/stuff/opt 60
${sct_controller} poll ${scobj_hpath}/stuff/plim 60
${sct_controller} poll ${scobj_hpath}/stuff/pressure 60
${sct_controller} poll ${scobj_hpath}/stuff/prfastacq 60
${sct_controller} poll ${scobj_hpath}/stuff/purge 60
${sct_controller} poll ${scobj_hpath}/stuff/remote 60
${sct_controller} poll ${scobj_hpath}/stuff/rfid 60
${sct_controller} poll ${scobj_hpath}/stuff/service 60
${sct_controller} poll ${scobj_hpath}/stuff/sysinfo 60
${sct_controller} poll ${scobj_hpath}/stuff/units 60
${sct_controller} poll ${scobj_hpath}/stuff/valves 60
${sct_controller} poll ${scobj_hpath}/stuff/an_out 600
${sct_controller} poll ${scobj_hpath}/stuff/boardinfo 600
${sct_controller} poll ${scobj_hpath}/stuff/config 600
${sct_controller} poll ${scobj_hpath}/stuff/cprofinfo 600
${sct_controller} poll ${scobj_hpath}/stuff/dout 600
${sct_controller} poll ${scobj_hpath}/stuff/error 600
${sct_controller} poll ${scobj_hpath}/stuff/errors 600
${sct_controller} poll ${scobj_hpath}/stuff/flushpmp 600
${sct_controller} poll ${scobj_hpath}/stuff/head 600
${sct_controller} poll ${scobj_hpath}/stuff/head_par 600
${sct_controller} poll ${scobj_hpath}/stuff/identify 600
${sct_controller} poll ${scobj_hpath}/stuff/lpg 600
${sct_controller} poll ${scobj_hpath}/stuff/oem 600
${sct_controller} poll ${scobj_hpath}/stuff/opt 600
${sct_controller} poll ${scobj_hpath}/stuff/plim 600
${sct_controller} poll ${scobj_hpath}/stuff/pressure 600
${sct_controller} poll ${scobj_hpath}/stuff/prfastacq 600
${sct_controller} poll ${scobj_hpath}/stuff/purge 600
${sct_controller} poll ${scobj_hpath}/stuff/remote 600
${sct_controller} poll ${scobj_hpath}/stuff/rfid 600
${sct_controller} poll ${scobj_hpath}/stuff/service 600
${sct_controller} poll ${scobj_hpath}/stuff/sysinfo 600
${sct_controller} poll ${scobj_hpath}/stuff/units 600
${sct_controller} poll ${scobj_hpath}/stuff/valves 600
} else {
::scobj::knauer_pump::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for knauer_pump"
}
@@ -1866,6 +1981,7 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
hsetprop ${scobj_hpath} data true
hsetprop ${scobj_hpath} debug_threshold 0
if {[string equal -nocase "${simulation_flag}" "false"]} {
ansto_makesctdrive ${name}_pump_pump_sp ${scobj_hpath}/pump/pump_sp ${scobj_hpath}/pump/volume_pv ${sct_controller}
ansto_makesctdrive ${name}_pump_volume_sp ${scobj_hpath}/pump/volume_sp ${scobj_hpath}/pump/volume_pv ${sct_controller}
}
# mkDriver hook code goes here