Better checks and state machine for Knauer pump

site_ansto/instrument/config/environment/knauer_pump.sct

@@ -39,6 +39,7 @@ driver knauer_pump = {
         readable = 1;
         read_command = ' ';
         fetch_function = volume_fetch;
+        read_function = volume_read;
         property 'units' = 'mL';
       }
       var setp = {
@@ -46,6 +47,7 @@ driver knauer_pump = {
         writeable = 1;
         write_command = ' ';
         write_function = volume_write;
+        check_function = volume_check;
         driveable = pump/volume/pval;
         checkstatus_function = volume_checkstatus;
         halt_function = volume_halt;
@@ -53,6 +55,7 @@ driver knauer_pump = {
         readable = 1;
         read_command = ' ';
         fetch_function = volume_fsm;
+        read_function = volume_store;
         property 'units' = 'mL';
         property this_state = 0;
       }
@@ -90,7 +93,7 @@ driver knauer_pump = {
   # Ensure the pump starts up in REMOTE mode
   #
   code mkDriver = {%%
-    hset ${scobj_hpath}/pump/remote 1
+    #hset ${scobj_hpath}/pump/remote 1
   %%}
   #
   # These functions handle the real_data returned by the pump for the GLP? command
@@ -194,9 +197,21 @@ driver knauer_pump = {
       sct geterror "${setpoint} has [llength ${rlist}] components, needs 4"
       error [sct geterror]
     }
-    set sum [expr [lindex ${rlist} 0] + [lindex ${rlist} 1] + [lindex ${rlist} 2] + [lindex ${rlist} 3]]
+    set sum 0
+    for {set i 0} {$i < 4} {incr i} {
+      set cmp [lindex ${rlist} ${i}]
+      if { ![string is integer -strict ${cmp}] } {
+        sct geterror "component [expr {${i} + 1}] is not integer: \"${cmp}\""
+        error [sct geterror]
+      }
+      if { !(${cmp} >= 0 && ${cmp} <= 100) } {
+        sct geterror "component [expr {${i} + 1}] is not between 0 and 100: \"${cmp}\""
+        error [sct geterror]
+      }
+      set sum [expr {${sum} + ${cmp}}]
+    }
     if { ${sum} != 100  } {
-      sct geterror "sum is ${sum}, must be 100"
+      sct geterror "sum of components is ${sum}, must be 100"
       error [sct geterror]
     }
   %%}
@@ -262,7 +277,6 @@ driver knauer_pump = {
   %%}
 
   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 cmd "REMOTE"
     sct this_state 1
@@ -283,20 +297,25 @@ driver knauer_pump = {
       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
+      set saveState ${nextState}
+      set nextState "noResponse"
       if { [sct this_state] == 1 } {
-        set cmd "TT_LOAD:1"
+        set cmd "GLP?"
+        set nextState ${saveState}
         sct this_state [expr {[sct this_state] + 1}]
       } elseif { [sct this_state] == 2 } {
-        set cmd "TT_SET:0,0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
+        set cmd "TT_LOAD:1"
         sct this_state [expr {[sct this_state] + 1}]
       } elseif { [sct this_state] == 3 } {
-        set cmd "TT_SET:1,${time_1},${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
+        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] == 4 } {
-        set cmd "TT_SET:2,${time_2},0,${ratio_tgt},0,0,0,0,0,0,0,0"
+        set cmd "TT_SET:1,${time_1},${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
         sct this_state [expr {[sct this_state] + 1}]
       } elseif { [sct this_state] == 5 } {
+        set cmd "TT_SET:2,${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] == 6 } {
         set cmd "START:1,0"
         sct this_state 0
       } elseif { [sct this_state] == 91 } {
@@ -304,6 +323,13 @@ driver knauer_pump = {
         sct this_state 92
       } elseif { [sct this_state] == 92 } {
         set cmd "STOP:0,0"
+        sct this_state 93
+      } elseif { [sct this_state] == 93 } {
+        if { !([hpropexists ${tc_root}/pump/remote target] && [hgetpropval ${tc_root}/pump/remote target] == 1) } {
+          set cmd "LOCAL"
+        } else {
+          set cmd "@@NOSEND@@"
+        }
         sct this_state 0
       } else {
         sct this_state 0
@@ -331,6 +357,25 @@ driver knauer_pump = {
     }
   %%}
 
+  code volume_store = {%%
+    if { [sct this_state] == 2 } {
+      set ns [namespace current]
+      # store the GLP result
+      hsetprop ${tc_root}/dummy/glp result "${data}"
+      sct with ${tc_root}/dummy/glp "${ns}::read_glp ${tc_root}"
+      # extract the volume
+      sct with ${tc_root}/[sct driveable] "${ns}::volume_fetch ${tc_root} ${nextState} @@NOSEND@@"
+      sct with ${tc_root}/[sct driveable] "${ns}::volume_read ${tc_root}"
+      # copy it to base_volume
+      hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
+    }
+    if { [hpropexists [sct] target] } {
+      set data [sct target]
+    } else {
+      set data 0.0
+    }
+  %%}
+
   code volume_halt = {%%
     set cmd "STOP:0,0"
     sct this_state 91

site_ansto/instrument/config/environment/sct_knauer_pump.tcl

@@ -202,9 +202,21 @@ proc ::scobj::knauer_pump::ratio_check {tc_root} {
       sct geterror "${setpoint} has [llength ${rlist}] components, needs 4"
       error [sct geterror]
     }
-    set sum [expr [lindex ${rlist} 0] + [lindex ${rlist} 1] + [lindex ${rlist} 2] + [lindex ${rlist} 3]]
+    set sum 0
+    for {set i 0} {$i < 4} {incr i} {
+      set cmp [lindex ${rlist} ${i}]
+      if { ![string is integer -strict ${cmp}] } {
+        sct geterror "component [expr {${i} + 1}] is not integer: \"${cmp}\""
+        error [sct geterror]
+      }
+      if { !(${cmp} >= 0 && ${cmp} <= 100) } {
+        sct geterror "component [expr {${i} + 1}] is not between 0 and 100: \"${cmp}\""
+        error [sct geterror]
+      }
+      set sum [expr {${sum} + ${cmp}}]
+    }
     if { ${sum} != 100  } {
-      sct geterror "sum is ${sum}, must be 100"
+      sct geterror "sum of components is ${sum}, must be 100"
       error [sct geterror]
     }
 # ratio_check hook code ends
@@ -555,6 +567,16 @@ proc ::scobj::knauer_pump::status_fetch {tc_root nextState cmd_str} {
   handle_exception ${catch_status} ${catch_message}
 }
 
+# function to check the write parameter on a device
+proc ::scobj::knauer_pump::volume_check {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "volume_check tc_root=${tc_root} sct=[sct] resp=[sct result]"
+# volume_check hook code goes here
+    return "idle"
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
 # checkstatus function for driveable interface
 proc ::scobj::knauer_pump::volume_checkstatus {tc_root} {
   set catch_status [ catch {
@@ -644,20 +666,25 @@ proc ::scobj::knauer_pump::volume_fsm {tc_root nextState cmd_str} {
       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
+      set saveState ${nextState}
+      set nextState "noResponse"
       if { [sct this_state] == 1 } {
-        set cmd "TT_LOAD:1"
+        set cmd "GLP?"
+        set nextState ${saveState}
         sct this_state [expr {[sct this_state] + 1}]
       } elseif { [sct this_state] == 2 } {
-        set cmd "TT_SET:0,0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
+        set cmd "TT_LOAD:1"
         sct this_state [expr {[sct this_state] + 1}]
       } elseif { [sct this_state] == 3 } {
-        set cmd "TT_SET:1,${time_1},${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
+        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] == 4 } {
-        set cmd "TT_SET:2,${time_2},0,${ratio_tgt},0,0,0,0,0,0,0,0"
+        set cmd "TT_SET:1,${time_1},${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
         sct this_state [expr {[sct this_state] + 1}]
       } elseif { [sct this_state] == 5 } {
+        set cmd "TT_SET:2,${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] == 6 } {
         set cmd "START:1,0"
         sct this_state 0
       } elseif { [sct this_state] == 91 } {
@@ -665,6 +692,13 @@ proc ::scobj::knauer_pump::volume_fsm {tc_root nextState cmd_str} {
         sct this_state 92
       } elseif { [sct this_state] == 92 } {
         set cmd "STOP:0,0"
+        sct this_state 93
+      } elseif { [sct this_state] == 93 } {
+        if { !([hpropexists ${tc_root}/pump/remote target] && [hgetpropval ${tc_root}/pump/remote target] == 1) } {
+          set cmd "LOCAL"
+        } else {
+          set cmd "@@NOSEND@@"
+        }
         sct this_state 0
       } else {
         sct this_state 0
@@ -721,6 +755,79 @@ proc ::scobj::knauer_pump::volume_halt {tc_root} {
   handle_exception ${catch_status} ${catch_message}
 }
 
+# function to parse the read of a parameter on a device
+proc ::scobj::knauer_pump::volume_read {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "volume_read tc_root=${tc_root} sct=[sct] result=[sct result]"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set data [sct result]
+    set nextState "idle"
+    if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
+      # the protocol driver has reported an error
+      sct geterror "${data}"
+      error "[sct geterror]"
+    }
+# volume_read hook code goes here
+    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
+    }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# function to parse the read of a parameter on a device
+proc ::scobj::knauer_pump::volume_store {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "volume_store tc_root=${tc_root} sct=[sct] result=[sct result]"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set data [sct result]
+    set nextState "idle"
+    if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
+      # the protocol driver has reported an error
+      sct geterror "${data}"
+      error "[sct geterror]"
+    }
+# volume_store hook code starts
+    if { [sct this_state] == 2 } {
+      set ns [namespace current]
+      # store the GLP result
+      hsetprop ${tc_root}/dummy/glp result "${data}"
+      sct with ${tc_root}/dummy/glp "${ns}::read_glp ${tc_root}"
+      # extract the volume
+      sct with ${tc_root}/[sct driveable] "${ns}::volume_fetch ${tc_root} ${nextState} @@NOSEND@@"
+      sct with ${tc_root}/[sct driveable] "${ns}::volume_read ${tc_root}"
+      # copy it to base_volume
+      hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
+    }
+    if { [hpropexists [sct] target] } {
+      set data [sct target]
+    } else {
+      set data 0.0
+    }
+# volume_store hook code ends
+    if { [hpropexists [sct] geterror] } {
+      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
+      error "[sct geterror]"
+    }
+    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
+    }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
 # function to write a parameter value on a device
 proc ::scobj::knauer_pump::volume_write {tc_root nextState cmd_str} {
   set catch_status [ catch {
@@ -731,7 +838,6 @@ proc ::scobj::knauer_pump::volume_write {tc_root nextState cmd_str} {
     set par [sct target]
     set cmd "${cmd_str}${par}"
 # volume_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
@@ -961,8 +1067,8 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
     hsetprop ${scobj_hpath}/pump/volume type "part"
 
     hfactory ${scobj_hpath}/pump/volume/pval plain user float
-    hsetprop ${scobj_hpath}/pump/volume/pval read ${ns}::volume_fetch ${scobj_hpath} rdValue { }
+    hsetprop ${scobj_hpath}/pump/volume/pval read ${ns}::volume_fetch ${scobj_hpath} volume_read { }
-    hsetprop ${scobj_hpath}/pump/volume/pval rdValue ${ns}::rdValue ${scobj_hpath}
+    hsetprop ${scobj_hpath}/pump/volume/pval volume_read ${ns}::volume_read ${scobj_hpath}
     hsetprop ${scobj_hpath}/pump/volume/pval control true
     hsetprop ${scobj_hpath}/pump/volume/pval data true
     hsetprop ${scobj_hpath}/pump/volume/pval mutable true
@@ -975,10 +1081,10 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
     hsetprop ${scobj_hpath}/pump/volume/pval nxalias "${name}_pump_volume_pval"
 
     hfactory ${scobj_hpath}/pump/volume/setp plain user float
-    hsetprop ${scobj_hpath}/pump/volume/setp read ${ns}::volume_fsm ${scobj_hpath} rdValue { }
+    hsetprop ${scobj_hpath}/pump/volume/setp read ${ns}::volume_fsm ${scobj_hpath} volume_store { }
-    hsetprop ${scobj_hpath}/pump/volume/setp rdValue ${ns}::rdValue ${scobj_hpath}
+    hsetprop ${scobj_hpath}/pump/volume/setp volume_store ${ns}::volume_store ${scobj_hpath}
-    hsetprop ${scobj_hpath}/pump/volume/setp write ${ns}::volume_write ${scobj_hpath} noResponse { }
+    hsetprop ${scobj_hpath}/pump/volume/setp write ${ns}::volume_write ${scobj_hpath} volume_check { }
-    hsetprop ${scobj_hpath}/pump/volume/setp noResponse ${ns}::noResponse ${scobj_hpath}
+    hsetprop ${scobj_hpath}/pump/volume/setp volume_check ${ns}::volume_check ${scobj_hpath}
     hsetprop ${scobj_hpath}/pump/volume/setp check ${ns}::checkrange ${scobj_hpath}
     hsetprop ${scobj_hpath}/pump/volume/setp driving 0
     hsetprop ${scobj_hpath}/pump/volume/setp checklimits ${ns}::checklimits ${scobj_hpath}
@@ -1014,7 +1120,7 @@ proc ::scobj::knauer_pump::mkDriver { sct_controller name device_class simulatio
       ansto_makesctdrive ${name}_pump_volume_setp ${scobj_hpath}/pump/volume/setp ${scobj_hpath}/pump/volume/pval ${sct_controller}
     }
 # mkDriver hook code starts
-    hset ${scobj_hpath}/pump/remote 1
+    #hset ${scobj_hpath}/pump/remote 1
 # mkDriver hook code ends
   } catch_message ]
   handle_exception ${catch_status} ${catch_message}