Wombat
hipd/config/commands/commands.tcl Added some of the procedures in extraconfig.tcl as "commands" motors/sct_jogmotor_common.tcl Added stop command. Send SH, JG and BG commands on one line when jogging motor. fakeDMC dmc2280Server.tcl mkSimAxes.tcl simAxis.tcl Added jog command. exebuf.c Batch file executor now sends a BATCHEND event when there is an AbortBatch interrupt. This means we can now execute cleanup comands when a batch file terminates. r2764 | ffr | 2009-01-23 16:06:03 +1100 (Fri, 23 Jan 2009) | 17 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
fb817f2aa8
commit
b134c901c5
@@ -1,5 +1,5 @@
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# $Revision: 1.3 $
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# $Date: 2007-10-31 06:10:30 $
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# $Revision: 1.4 $
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# $Date: 2009-01-23 05:06:03 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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@@ -25,34 +25,36 @@ proc readLine {who channel} {
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} else {
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puts "RECEIVED: $line"
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switch -glob $line {
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"" {puts -nonewline $channel ":"}
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"kill" {exit}
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"SH*" - "BG*" - "PA*" - "DP*" - "AT*" - "MO*" - "ST*" - "SP*" - "AC*" - "DC*" {
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eval [parse $line]
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puts -nonewline $channel ":"
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}
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"TP*" - "TD*" - "TI*" - "XQ*" {
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set output [eval [parse $line]]
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puts $channel " $output"; puts -nonewline $channel ":"
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}
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"LV" {
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set output [eval [parse $line]]
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puts $channel "$output"; puts -nonewline $channel ":"
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}
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"TS*" {
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set output [eval [parse $line]]
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puts $channel " $output"; puts -nonewline $channel ":"
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}
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"TC 1" {
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puts $channel " DMC2280 ERROR"; puts -nonewline $channel ":"
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}
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"MG *" {
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set output [eval [parse $line]]
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puts $channel " $output"; puts -nonewline $channel ":"
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foreach cmd [split $line ";"] {
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switch -glob $cmd {
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"" {puts -nonewline $channel ":"}
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"kill" {exit}
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"SH*" - "BG*" - "PA*" - "PR*" - "JG*" - "DP*" - "AT*" - "MO*" - "ST*" - "SP*" - "AC*" - "DC*" {
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eval [parse $cmd]
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puts -nonewline $channel ":"
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}
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"TP*" - "TD*" - "TI*" - "XQ*" {
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set output [eval [parse $cmd]]
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puts $channel " $output"; puts -nonewline $channel ":"
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}
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"LV" {
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set output [eval [parse $cmd]]
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puts $channel "$output"; puts -nonewline $channel ":"
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}
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"TS*" {
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set output [eval [parse $cmd]]
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puts $channel " $output"; puts -nonewline $channel ":"
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}
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"TC 1" {
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puts $channel " DMC2280 ERROR"; puts -nonewline $channel ":"
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}
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"MG *" {
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set output [eval [parse $cmd]]
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puts $channel " $output"; puts -nonewline $channel ":"
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}
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}
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flush $channel;
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}
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flush $channel;
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set didRead 1
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}
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return;
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@@ -1,9 +1,9 @@
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#!/usr/bin/tclsh
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# $Revision: 1.8 $
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# $Date: 2008-05-12 01:08:15 $
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# $Revision: 1.9 $
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# $Date: 2009-01-23 05:06:03 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: dcl $
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# Last revision by: $Author: ffr $
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# Creates fake DMC configuration files based on the instrument
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# configuration file.
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@@ -63,14 +63,17 @@ proc mkSimAxes {instrument} {
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set speed [expr $motor(stepsperx) * $motor(maxspeed)]
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set acc [expr $motor(stepsperx) * $motor(maxaccel)]
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set dec [expr $motor(stepsperx) * $motor(maxdecel)]
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set lolim $motor(hardlowerlim)
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set uplim $motor(hardupperlim)
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if [ info exists motor(absenc) ] {
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set enPos $motor(absenchome);
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set enCnts $motor(cntsperx);
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} else {
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set enPos 0;
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set enCnts 0;
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set enCnts $motor(stepsperx);
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}
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puts $simFile($IPtoContName($motor(asyncqueue)-$instrument)) "array set $nm \[\list SC 1 TD 0 TP $enPos BG 0 ST 0 SP $speed AC $acc DC $dec cntsperx $enCnts stepsperx $motor(stepsperx) PA 0 TS 44 \]";
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# MVTYPE = PA (move to target),PR (relative move), JG (move until limswitch or stop cmd)
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puts $simFile($IPtoContName($motor(asyncqueue)-$instrument)) "array set $nm \[\list SC 1 TD 0 TP $enPos BG 0 ST 0 SP $speed AC $acc DC $dec cntsperx $enCnts stepsperx $motor(stepsperx) PA 0 TS 44 MVTYPE unknown LOLIM $lolim UPLIM $uplim ABSHOME $enPos ATLIM false\]";
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# eval "lappend $IPtoContName($motor(host))_motors $m";
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}
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@@ -1,8 +1,14 @@
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# $Revision: 1.8 $
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# $Date: 2008-05-30 00:26:54 $
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# $Revision: 1.9 $
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# $Date: 2009-01-23 05:06:03 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by: $Author: ffr $
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proc sleep {mstime} {
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set x 0
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after $mstime {set x 1}
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vwait x
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}
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# Requires a configuration array for each axis that you want to simulate.
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# eg
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#array set B [list AC 25000 TP 7827107 TD 25000 PA 25000 stepsperx 25000 cntsperx 8192 DC 25000 SP 25000]
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@@ -30,10 +36,23 @@ proc dmset {cmd axis args} {
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} else {
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set val [evaluate $args]
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}
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if {[string first $cmd "PA SP AC DC"] != -1} {
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uplevel #0 set ${axis}($cmd) $val;
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} else {
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uplevel #0 $cmd $axis $val;
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set inst [string range $cmd 0 1]
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switch $inst {
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"PA" - "PR" {
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uplevel #0 set ${axis}(MVTYPE) $inst
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uplevel #0 set ${axis}($cmd) $val;
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}
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"JG" {
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uplevel #0 set ${axis}(MVTYPE) $inst
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uplevel #0 set ${axis}($cmd) $val;
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# uplevel #0 set ${axis}(SP) $val;
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}
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"SP" - "AC" - "DC" {
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uplevel #0 set ${axis}($cmd) $val;
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}
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default {
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uplevel #0 $cmd $axis $val;
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}
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}
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}
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@@ -51,8 +70,12 @@ proc DP {axis val} {
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proc TS {axis} {
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uplevel #0 eval set ${axis}(TS)
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}
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proc ST {axis} {
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uplevel #0 eval set ${axis}(ST) 1
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proc ST {_axis} {
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upvar #0 $_axis axis;
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set axis(ST) 1
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while {$axis(BG) == 1} {
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sleep 1000
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}
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}
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proc SH {args} {}
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@@ -67,15 +90,24 @@ proc BG {_axis} {
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set axis(BG) 1; # motor is moving
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set axis(SC) 0; # motor is running
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set timeStep 0.1; # seconds
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set target $axis(PA);
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set diff [expr $target - $axis(TD)];
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set sign [expr ($axis(PA) - $axis(TD)) < 0 ? -1 : 1];
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set step [expr $sign * $timeStep * $axis(SP) ];
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if {[expr abs($diff) < abs($step)]} {
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set step $diff;
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set timeStep [expr abs($step / $axis(SP))];
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set axis(ST) 0
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switch $axis(MVTYPE) {
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"PA" {
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set target $axis(PA);
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set diff [expr $target - $axis(TD)];
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set sign [expr ($axis(PA) - $axis(TD)) < 0 ? -1 : 1];
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set step [expr $sign * $timeStep * $axis(SP) ];
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if {[expr abs($diff) < abs($step)]} {
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set step $diff;
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set timeStep [expr abs($step / $axis(SP))];
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}
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every [expr round($timeStep * 1000)] "nextstep $_axis $step target $_axis $target $step"
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}
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"JG" {
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set step [expr $timeStep * $axis(JG) ];
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every [expr round($timeStep * 1000)] "nextstep $_axis $step jogit"
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}
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}
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every [expr round($timeStep * 1000)] "nextstep $_axis $step $target"
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# set diff [expr $target - $axis(TD)];
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# set mult [expr $axis(cntsperx).0/$axis(stepsperx)];
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@@ -107,29 +139,66 @@ proc every {ms body} {
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return;
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}
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proc nextstep {paxis step target} {
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proc nextstep {paxis step args} {
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upvar #0 $paxis axis;
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set finished false
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if {($axis(ATLIM) == "upper") && ($step > 0)} {
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return 0
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} elseif {($axis(ATLIM) == "lower") && ($step < 0)} {
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return 0
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}
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set mult [expr double($axis(cntsperx))/$axis(stepsperx)];
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set axis(TP) [expr int($step * $mult + $axis(TP))];
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set TD_POS [expr int($axis(TD) + $step)];
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set axis(TD) [expr int($TD_POS)];
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set currPos [expr ($axis(TP) - $axis(ABSHOME))/abs(double($axis(cntsperx)))]
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if {$axis(ST) == 1} {
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set axis(TS) 44; # Stopped, limit switches open
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set axis(BG) 0; # motor has stopped
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set axis(ST) 0; # make sure stop flag is unset
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set axis(SC) 4; # motor stopped by stop command (ST)
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return 0;
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} elseif {[expr abs($target - $axis(TD)) < abs($step)]} {
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set diff [expr $target - $axis(TD)];
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set axis(TP) [expr int(round($diff*$mult + $axis(TP)))];
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set axis(TD) [expr int($target)];
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set axis(ATLIM) false
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set finished true
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} elseif {$currPos >= $axis(UPLIM)} {
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set axis(TS) 36; # Stopped on forward limit switch
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set axis(BG) 0; # motor has stopped
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set axis(ST) 0; # make sure stop flag is unset
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set axis(SC) 2; # motor stopped by limit switch
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set axis(ATLIM) upper
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set finished true
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} elseif {$currPos <= $axis(LOLIM)} {
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set axis(TS) 40; # Stopped on reverse limit switch
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set axis(BG) 0; # motor has stopped
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set axis(ST) 0; # make sure stop flag is unset
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set axis(SC) 3; # motor stopped by limit switch
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set axis(ATLIM) lower
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set finished true
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} elseif {[eval $args]} {
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# Stop if condition specified in "args" is met
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# set diff [expr $target - $axis(TD)];
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# set axis(TP) [expr int(round($diff*$mult + $axis(TP)))];
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# set axis(TD) [expr int($target)];
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set axis(TS) 44; # Stopped, limit switches open
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set axis(BG) 0; # motor has stopped
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set axis(ST) 0; # make sure stop flag is unset
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set axis(SC) 1; # motor stopped at commanded position
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return 0;
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set axis(ATLIM) false
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set finished true
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} else {
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return 1;
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set finished false
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}
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if {$finished} {
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set axis(MVTYPE) "unknown"
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return 0
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} else {
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return 1
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}
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}
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proc target {paxis target step} {
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upvar #0 $paxis axis;
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return [expr abs($target - $axis(TD)) < abs($step)]
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}
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proc jogit {} {
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return false
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}
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