Implemented ::anticollider::proximity_script to be used with detector carriages.

site_ansto/instrument/bilby/config/anticollider/anticollider.tcl

@@ -1,6 +1,6 @@
 # Author: Ferdi Franceschini (ffr@ansto.gov.au)
 
-source $cfPath(anticollider)/anticollider_common.tcl 
+fileeval $cfPath(anticollider)/anticollider_common.tcl 
 
 namespace eval ::anticollider {
   set guide_posit 1
@@ -12,15 +12,103 @@ namespace eval ::anticollider {
   for {set n 1} {$n < 8} {incr n} {
     foreach {col ap} "col$n ap$n" {
       set col_limit [expr [SplitReply [$col posit2unit $aperture_posit]] - $coltol]
-      set ap_limit [expr [SplitReply [$ap posit2unit $apD10_posit]] + $aptol]
+      set ap_limit [expr [SplitReply [$ap posit2unit $apD10_posit]] - $aptol]
       set acrule [subst {forbid {-inf inf} for $ap when $col in {-inf $col_limit} }]
-      lappend ::anticollider::prog $acrule
-      clientput $acrule
+      lappend ::anticollider::veto_rules $acrule
       set acrule [subst {forbid {-inf inf} for $col when $ap in {$ap_limit inf} }]
-      lappend ::anticollider::prog $acrule
-      clientput $acrule
+      lappend ::anticollider::veto_rules $acrule
+      anticollision register $col
+      anticollision register $ap
     }
   }
+
+  proc ::anticollider::load_acrules {} {
+    variable proximity_rules
+    # Proximity rules have the following form,
+    #   m1 m2 mdist
+    # This means that the position of m2 is always >= m1 and that a drive or
+    # run command which tries to drive them closer than mdist will be rejected.
+    # TODO Abort driving motors registered with the anticollider if one of them
+    #      fails during the drive.
+# TESTING WITH SLITS, uncomment this block and the foreach block to test with slits
+#   set proximity_rules {
+#     ss1l ss1r 10
+#   }
+  # TODO UNCOMMENT FOLLOWING TO ENABLE ANTICOLLISION FOR DETECTOR CARRIAGES
+  # # Detector carriage proximity rules.
+  # # det1 = curtain detector
+  # # det2 = main detector which is at higher y-pos then det1
+  # set proximity_rules {
+  #   det1 det2 2000
+  # }
+  # foreach {m1 m2 minsep} $proximity_rules {
+  #   anticollision register $m1
+  #   anticollision register $m2
+  #   clientput "::anticollider::proximity_rule: $m1 $m2 minsep = $minsep"
+  # }
+  }
+
+  # @brief Don't allow two axes to get closer than a minimum separation given in the 'proximity_rules' list.
+  # Assumes that both objects are on the same open track
+  # Both axes are required to move at the same speed with the same accel and decel values.
+  #   NOTE: Doesn't check that the speeds and accel set by the Galil match what is requested.
+  # If axes are within the minimum distance then you can only drive them
+  # apart when the targets are greater than the minimum allowed separation.
+  proc proximity_script {args} {
+    set catch_status [ catch {
+      variable proximity_rules
+
+      foreach {m1 m2 mdist} $proximity_rules {
+        set final($m1) [SplitReply [$m1]]
+        set final($m2) [SplitReply [$m2]]
+      }
+      foreach {mot val} $args {
+        set final($mot) $val
+      }
+      foreach {mot val} $args {
+        set rulenum 1
+        foreach {m1 m2 mdist} $proximity_rules {
+          if {$m1 != $mot && $m2 != $mot} {
+            continue
+          }
+          if {$mdist <=0} {
+            error "Minimum separation for $m1 and $m2 must be > 0 in proximity_rule $rulenum"
+          }
+          set speed($m1) [SplitReply [$m1   speed]]
+          set accel($m1) [SplitReply [$m1   accel]]
+          set decel($m1) [SplitReply [$m1   decel]]
+          set pos($m1)   [SplitReply [$m1]]
+
+          set speed($m2) [SplitReply [$m2   speed]]
+          set accel($m2) [SplitReply [$m2   accel]]
+          set decel($m2) [SplitReply [$m2   decel]]
+          set pos($m2)   [SplitReply [$m2]]
+          # NOTE Speed and accel tests assume that the Galil actually sets the
+          # speeds and accelerations to the same expected steps after taking gear
+          # ratios, transmission, (something else?) into account on both axes
+          # when we drive the motors.
+          if {$speed($m1) != $speed($m2)} {
+            error "$m1 and $m2 speeds must be equal to ensure they won't collide"
+          }
+          if {$accel($m1) != $accel($m2)} {
+            error "$m1 and $m2 accelerations must be equal to ensure they won't collide"
+          }
+          if {$decel($m1) != $decel($m2)} {
+            error "$m1 and $m2 decelerations must be equal to ensure they won't collide"
+          }
+          if {$pos($m2) - $pos($m1) < 0} {
+            error "Rule($rulenum): $m1 $m2 $mdist seems to be invalid.  It assumes that $m2 pos is always >= $m1 pos but $m1 is at $pos($m1) and $m2 is at $pos($m2)"
+          }
+          if {$final($m2) - $final($m1) < $mdist} {
+            error "$m1 and $m2 will violate rule:$rulenum, the minimum allowed separation is positive $mdist"
+          }
+          incr rulenum
+        }
+      }
+    } message ]
+    handle_exception $catch_status $message
+  }
+  lappend ::anticollider::scripts ::anticollider::proximity_script
 }
 
 # NOTE: This is called with a list of motorname target pairs
@@ -32,3 +120,4 @@ proc ::anticollider::enable {args} {
   }
 }
 
+::anticollider::loadscript acscript.txt