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- Various little fixes to the TAS software

Browse Source 
- Added a sync command for synchronizing a simulation server with the
  master server.
This commit is contained in:
cvs
2001-03-16 16:09:33 +00:00
parent 5be8359212
commit bae18e8686
24 changed files with 494 additions and 78 deletions
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15
Makefile
View File

@ -1,7 +1,7 @@
#----------------------------------------------------------------------------
# Makefile for SICS
#
# Mark Koennecke 1996-2000
# Mark Koennecke 1996-2001
# Markus Zolliker March 2000: add tecs
#---------------------------------------------------------------------------
@ -16,12 +16,15 @@ FORTIFYOBJ =
#----- comment or uncomment if a difrac version is required
#DIFOBJ=
#DIFIL=
# Do not forget to remove or add comments to ofac.c as well if changes
# were made here.
DIFOBJ=
DIFIL=
#DIFOBJ=difrac.o -Ldifrac -ldif -lfor
#----
DIFOBJ=difrac.o -Ldifrac -ldif
DIFIL= difrac.o
#DIFOBJ=difrac.o -Ldifrac -ldif
#DIFIL= difrac.o
#---------------------------------------------------------------------------
@ -44,7 +47,7 @@ SOBJ = network.o ifile.o conman.o SCinter.o splitter.o passwd.o \
hklscan.o xytable.o amor2t.o nxamor.o amorscan.o amorstat.o \
circular.o el755driv.o maximize.o sicscron.o tecsdriv.o sanscook.o \
tasinit.o tasutil.o t_rlp.o t_conv.o d_sign.o d_mod.o \
tasdrive.o tasscan.o
tasdrive.o tasscan.o synchronize.o
MOTOROBJ = motor.o el734driv.o simdriv.o el734dc.o pipiezo.o pimotor.o
COUNTEROBJ = countdriv.o simcter.o counter.o

2
countdriv.h
View File

@ -83,6 +83,6 @@
/* PSI Simulation counter, if you have no hardware */
/* simcter.c */
pCounterDriver NewSIMCounter(char *name);
pCounterDriver NewSIMCounter(char *name, float fVal);
void KillSIMCounter(pCounterDriver self);
#endif

4
counter.c
View File

@ -485,7 +485,7 @@
FuPaResult pParse;
FuncTemplate MakeTemplate[] = {
{"el737",3,{FUPATEXT,FUPAINT,FUPAINT}},
{"sim",0,{0.0}}
{"sim",1,{FUPAFLOAT}}
};
assert(pCon);
@ -510,7 +510,7 @@
pParse.Arg[1].iVal,pParse.Arg[2].iVal);
break;
case 1: /* SIM */
pDriv = NewSIMCounter(argv[1]);
pDriv = NewSIMCounter(argv[1],pParse.Arg[0].fVal);
break;
default:
assert(0); /* internal error */

2
danu.dat
View File

@ -1,3 +1,3 @@
7665
7671
NEVER, EVER modify or delete this file
You'll risk eternal damnation and a reincarnation as a cockroach!|n

2
histsim.c
View File

@ -242,7 +242,7 @@
}
/* put a SIMcounter in */
pNew->pPriv = (void *)NewSIMCounter("HistoSim");
pNew->pPriv = (void *)NewSIMCounter("HistoSim",-1.);
if(!pNew->pPriv)
{
DeleteHistDriver(pNew);

27
macro.c
View File

@ -648,6 +648,33 @@ extern Tcl_Interp *InterpGetTcl(SicsInterp *pSics);
}
return 1;
}
/*----------------------------------------------------------------------*/
int Broadcast(SConnection *pCon, SicsInterp *pInter, void *pData,
int argc, char *argv[])
{
int iMacro;
char pBueffel[256];
assert(pCon);
assert(pInter);
if(argc < 2)
{
SCWrite(pCon,"Insufficient arguments to Broadcast",eError);
return 0;
}
/* now write, thereby tunneling macro flag in order to get proper
write to client and not into interpreter
*/
Arg2Text(argc-1, &argv[1],pBueffel,255);
iMacro = SCinMacro(pCon);
SCsetMacro(pCon,0);
ServerWriteGlobal(pBueffel,eWarning);
SCsetMacro(pCon,iMacro);
return 1;
}
/*---------------------------------------------------------------------------
This implements a scheme to provide Tcl commands to Tcl. The Tcl commands
(either procedures or objects) must be defined in a separate file. Than

2
macro.h
View File

@ -30,6 +30,8 @@
int argc, char *argv[]);
int ClientPut(SConnection *pCon, SicsInterp *pInter, void *pData,
int argc, char *argv[]);
int Broadcast(SConnection *pCon, SicsInterp *pInter, void *pData,
int argc, char *argv[]);
int TransactAction(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[]);

39
nserver.c
View File

@ -304,25 +304,28 @@
TaskerDelete(&self->pTasker);
/* save status */
strcpy(pBueffel,"Backup ");
pText = IFindOption(pSICSOptions,"statusfile");
if(pText)
if(!self->simMode)
{
strcat(pBueffel,pText);
}
else
{
strcat(pBueffel,DEFAULTSTATUSFILE);
}
pCon = SCCreateDummyConnection(self->pSics);
if(pCon)
{
InterpExecute(self->pSics,pCon,pBueffel);
SCDeleteConnection(pCon);
}
else
{
printf("ERROR: Cannot allocate dummy connection, status NOT saved");
strcpy(pBueffel,"Backup ");
pText = IFindOption(pSICSOptions,"statusfile");
if(pText)
{
strcat(pBueffel,pText);
}
else
{
strcat(pBueffel,DEFAULTSTATUSFILE);
}
pCon = SCCreateDummyConnection(self->pSics);
if(pCon)
{
InterpExecute(self->pSics,pCon,pBueffel);
SCDeleteConnection(pCon);
}
else
{
printf("ERROR: Cannot allocate dummy connection, status NOT saved");
}
}
/* close redirection file if present */

1
nserver.h
View File

@ -31,6 +31,7 @@
pEnvMon pMonitor;
mkChannel *pServerPort;
pNetRead pReader;
int simMode;
} SicsServer;

3
nserver.tex
View File

@ -18,6 +18,7 @@ $\langle$servdat {\footnotesize ?}$\rangle\equiv$
\mbox{}\verb@ pEnvMon pMonitor;@\\
\mbox{}\verb@ mkChannel *pServerPort;@\\
\mbox{}\verb@ pNetRead pReader;@\\
\mbox{}\verb@ int simMode;@\\
\mbox{}\verb@ } SicsServer;@\\
\mbox{}\verb@@$\diamond$
\end{list}
@ -40,6 +41,8 @@ This module monitors sample environment controllers.
the SICS server is listening for connections.
\item[pReader] points to a data structure which defines the network
communication object.
\item[simMode] a flag which is true when the SICS server is a simulation
server.
\end{description}

3
nserver.w
View File

@ -13,6 +13,7 @@ the system:
pEnvMon pMonitor;
mkChannel *pServerPort;
pNetRead pReader;
int simMode;
} SicsServer;
@}
@ -28,6 +29,8 @@ This module monitors sample environment controllers.
the SICS server is listening for connections.
\item[pReader] points to a data structure which defines the network
communication object.
\item[simMode] a flag which is true when the SICS server is a simulation
server.
\end{description}

8
ofac.c
View File

@ -103,6 +103,7 @@
#include "sicscron.h"
#include "lin2ang.h"
#include "tas.h"
#include "synchronize.h"
/*----------------------- Server options creation -------------------------*/
static int IFServerOption(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
@ -197,6 +198,7 @@
AddCommand(pInter,"InternEval",InternalFileEval,NULL,NULL);
AddCommand(pInter,"FileWhere",MacroWhere,WhereKill,NULL);
AddCommand(pInter,"ClientPut",ClientPut,NULL,NULL);
AddCommand(pInter,"broadcast",Broadcast,NULL,NULL);
AddCommand(pInter,"transact",TransactAction,NULL,NULL);
AddCommand(pInter,"sicsprompt", SicsPrompt,NULL,NULL);
AddCommand(pInter,"Publish",TclPublish,NULL,NULL);
@ -272,9 +274,12 @@
AddCommand(pInter,"MakeStoreAmor",AmorStoreMake,NULL,NULL);
AddCommand(pInter,"MakeAmorStatus",AmorStatusFactory,NULL,NULL);
AddCommand(pInter,"MakeMaximize",MaximizeFactory,NULL,NULL);
/*
AddCommand(pInter,"MakeDifrac",MakeDifrac,NULL,NULL);
*/
AddCommand(pInter,"MakeLin2Ang",MakeLin2Ang,NULL,NULL);
AddCommand(pInter,"MakeTAS",TASFactory,NULL,NULL);
AddCommand(pInter,"MakeSync",MakeSync,NULL,NULL);
}
/*---------------------------------------------------------------------------*/
static void KillIniCommands(SicsInterp *pSics)
@ -323,9 +328,12 @@
RemoveCommand(pSics,"MakeStoreAmor");
RemoveCommand(pSics,"MakeAmorStatus");
RemoveCommand(pSics,"MakeMaximize");
/*
RemoveCommand(pSics,"MakeDifrac");
*/
RemoveCommand(pSics,"MakeLin2Ang");
RemoveCommand(pSics,"MakeTAS");
RemoveCommand(pSics,"MakeSync");
}

10
scan.c
View File

@ -41,6 +41,13 @@ extern void SNXFormatTime(char *pBuffer, int iLen);
char pNumText[10];
CommandList *pCom = NULL;
/*
make a simulated filename if in simulation mode
*/
if(pServ->simMode)
return strdup("sim001001901.sim");
/* Try, get all the Variables */
pPath = FindVariable(pSics,"sicsdatapath");
pPref = FindVariable(pSics,"sicsdataprefix");
@ -1256,7 +1263,8 @@ extern void SNXFormatTime(char *pBuffer, int iLen);
pPtr = ScanMakeFileName(self->pSics,self->pCon,self->ext);
if(!pPtr)
{
SCWrite(self->pCon,"ERROR: cannot allocate new data filename, Scan aborted",
SCWrite(self->pCon,
"ERROR: cannot allocate new data filename, Scan aborted",
eError);
self->pCon = NULL;
self->pSics = NULL;

24
sicsstat.tcl
View File

@ -1,4 +1,4 @@
scaninfo 9,en,2.800000,0.050000
scaninfo 7,en,-0.300000,0.100000
scaninfo setAccess 0
sicsdatapath /data/koenneck/src/sics/tmp/
sicsdatapath setAccess 1
@ -26,7 +26,7 @@ etam 0.000000
etam setAccess 2
wav 0.000000
wav setAccess 2
den 0.050000
den 0.100000
den setAccess 2
dql 0.000000
dql setAccess 2
@ -98,9 +98,9 @@ alf1 11.000000
alf1 setAccess 2
local Mordahl Schlawadini
local setAccess 2
output a1,a2,a3,a4
output a4
output setAccess 2
lastcommand sc qh 2 0 0 3 dqh 0 0 0 .05 ti 2 np 9
lastcommand sc en 0 den .1 np 7 ti 2
lastcommand setAccess 2
user Billy Looser
user setAccess 2
@ -132,7 +132,7 @@ mn 700
mn setAccess 2
ti 2.000000
ti setAccess 2
np 9
np 7
np setAccess 2
fx 2
fx setAccess 2
@ -146,7 +146,7 @@ da 3.354000
da setAccess 1
dm 3.354000
dm setAccess 1
en 3.000000
en 0.300000
en setAccess 2
ql 0.000000
ql setAccess 2
@ -158,9 +158,9 @@ kf 1.964944
kf setAccess 2
ef 8.000000
ef setAccess 2
ki 2.304101
ki 2.001447
ki setAccess 2
ei 11.000000
ei 8.300000
ei setAccess 2
bz 1.000000
bz setAccess 2
@ -176,11 +176,11 @@ ax 1.000000
ax setAccess 2
cc 90.000000
cc setAccess 2
bb 67.889999
bb 90.000000
bb setAccess 2
aa 90.000000
aa setAccess 2
cs 7.000000
cs 5.000000
cs setAccess 2
bs 5.000000
bs setAccess 2
@ -303,8 +303,8 @@ a6 InterruptMode 0.000000
a6 AccessCode 2.000000
# Motor a5
a5 SoftZero 176.479996
a5 SoftLowerLim -376.479980
a5 SoftUpperLim 23.520004
a5 SoftLowerLim -200.000000
a5 SoftUpperLim 380.000000
a5 Fixed -1.000000
a5 sign 1.000000
a5 InterruptMode 0.000000

10
sicsstatus.tcl
View File

@ -12,9 +12,9 @@ hm init
datafile focus-1001848.hdf
datafile setAccess 3
hm2 CountMode timer
hm2 preset 2.000000
hm2 preset 100.000000
hm1 CountMode timer
hm1 preset 2.000000
hm1 preset 100.000000
dbfile UNKNOWN
dbfile setAccess 2
# Motor th
@ -150,8 +150,6 @@ lastscancommand UNKNOWN
lastscancommand setAccess 2
banana CountMode timer
banana preset 2.000000
banana genbin 100.000000 13.000000 64
banana init
sample_mur 0.000000
sample_mur setAccess 2
email UNKNOWN
@ -163,7 +161,7 @@ phone setAccess 2
adress UNKNOWN
adress setAccess 2
# Counter counter
counter SetPreset 100.000000
counter SetPreset 10.000000
counter SetMode Timer
# Motor som
som SoftZero 0.000000
@ -435,5 +433,5 @@ sample DanielOxid
sample setAccess 2
title TopsiTupsiTapsi
title setAccess 2
starttime 2001-01-29 16:18:12
starttime 2001-03-12 14:55:05
starttime setAccess 2

20
simcter.c
View File

@ -50,7 +50,7 @@
A SIMCOUNTER HAS a BUILT IN FAILURE RATE OF 10% FOR TESTING ERROR HANDLING
CODE. A negative failure rate means absolute success.
*/
#define FAILRATE 0.05
static float FAILRATE;
/*----------------------------------------------------------------------------*/
static float SimRandom(void)
{
@ -147,6 +147,11 @@
pSim->lEnd = 0;
}
if(FAILRATE < .0)
{
return OKOK;
}
if(SimRandom() < FAILRATE)
{
return HWFault;
@ -195,6 +200,11 @@
pSim->iPause = 0;
if(FAILRATE < .0)
{
return OKOK;
}
if(SimRandom() < FAILRATE)
{
return HWFault;
@ -212,6 +222,11 @@
pSim = (SimSt *)self->pData;
assert(pSim);
if(FAILRATE < .0)
{
return OKOK;
}
if(SimRandom() < FAILRATE)
{
return HWFault;
@ -295,7 +310,7 @@
return 1;
}
/*---------------------------------------------------------------------------*/
pCounterDriver NewSIMCounter(char *name)
pCounterDriver NewSIMCounter(char *name, float fFail)
{
pCounterDriver pRes = NULL;
SimSt *pData = NULL;
@ -335,6 +350,7 @@
pRes->Get = SIMGet;
pRes->Send = SIMSend;
FAILRATE = fFail;
return pRes;
}
/*--------------------------------------------------------------------------*/

45
simsync.w Normal file
View File

@ -0,0 +1,45 @@
\subsection{Synchronizing with other SICS server}
A common demand is to have a simulation server for testing command files or
checking complex instrument movements. For such uses the simulation SICS
server must be synchrnized at times with the actual SICS server running the
instrument. This is the purpose of this module. It works by sending a
backup command to to the actual SICS server and then runs the restore
command. In order for this scheme to work properly, both the simulation
and the real SICS server must be configured to read the same status file.
The installation of this module also sets a flag in the SICS servers
general data structure which can be used by other system components in order
to modify behaviour in simulation mode. For instance the writing of data
files can be inhibited.
As the simulation server must be able to run independently from the actual
SICS server, it was considered sufficient to update the state of the
simulation server manually. As this may break other simulations currently
running a broadcast message about the action is sent to all connected
clients.
The interface to this module is just the interpreter function doing
the sync and the object creation function.
@d syncint @{
int MakeSync(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[]);
int Synchronize(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[]);
@}
@o synchronize.h @{
/*
S y n c h r o n i z e
Synchronize parameters in this server with parameters from another
SICS server.
Mark Koennecke, March 2001
*/
#ifndef SICSSYNC
#define SICSSYNC
@<syncint@>
#endif
@}

225
synchronize.c Normal file
View File

@ -0,0 +1,225 @@
/*
S y n c h r o n i z e
Synchronize parameters in this server with parameters from another
SICS server.
Mark Koennecke, March 2001
*/
#include "sics.h"
#include "network.h"
#include "synchronize.h"
/*-----------------------------------------------------------------------
Some file statics which hold the connection parameters
------------------------------------------------------------------------*/
static char *hostname, *looser, *password;
static int port;
static mkChannel *connection = NULL;
/*-----------------------------------------------------------------------*/
static void syncLogin()
{
int test, i;
char pBueffel[1024], pRead[80];
/*
connect
*/
connection = NETConnect(hostname, port);
NETRead(connection,pBueffel,1020,10*1000);
if(connection != NULL)
{
/*
try a login
*/
sprintf(pBueffel,"%s %s\n", looser, password);
test = NETWrite(connection,pBueffel,strlen(pBueffel));
if(test != 1)
{
printf("Failed at writing user/password\n");
NETClosePort(connection);
free(connection);
connection = NULL;
}
pBueffel[0] = '\0';
for(i = 0; i < 10; i++)
{
test = NETRead(connection,pRead,70,10*1000);
if(test < 0)
{
NETClosePort(connection);
free(connection);
connection = NULL;
}
else
{
strcat(pBueffel,pRead);
}
if(strstr(pBueffel,"Login OK") == NULL)
{
test = 0;
}
else
{
test = 1;
}
SicsWait(1);
}
if(!test)
{
printf("Bad reply to login: %s\n",pBueffel);
NETClosePort(connection);
free(connection);
connection = NULL;
}
}
}
/*---------------------------------------------------------------------*/
static void killSync(void *pData)
{
if(connection)
{
NETClosePort(connection);
free(connection);
}
if(hostname)
free(hostname);
if(looser)
free(looser);
if(password)
free(password);
}
/*----------------------------------------------------------------------*/
int MakeSync(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
{
char pBueffel[256];
int iRet;
/*
check arguments: we need host, port, user and passwd
*/
if(argc < 5)
{
SCWrite(pCon,
"ERROR: need parameters: host port user passwd : for sync creation",
eError);
return 0;
}
/*
copy parameters
*/
hostname = strdup(argv[1]);
port = atof(argv[2]);
looser = strdup(argv[3]);
password = strdup(argv[4]);
pServ->simMode = 1;
/*
add the command to the Interpreter
*/
iRet = AddCommand(pSics,"sync",Synchronize,killSync,NULL);
if(!iRet)
{
sprintf(pBueffel,"ERROR: duplicate command sync not created");
killSync(NULL);
SCWrite(pCon,pBueffel,eError);
return 0;
}
return 1;
}
/*----------------------------------------------------------------------*/
int Synchronize(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[])
{
char pBueffel[1024];
char pRead[80];
int test,i;
/*
check for connection
*/
if(connection == NULL)
{
syncLogin();
if(connection == NULL)
{
sprintf(pBueffel,"ERROR: failed to connect to %s, %d for sync 'ing",
hostname, port);
SCWrite(pCon,pBueffel, eError);
return 0;
}
}
/*
first tell the remote server to backup
*/
strcpy(pBueffel,"transact backup\n");
test = NETWrite(connection,pBueffel,strlen(pBueffel));
if(test != 1)
{
NETClosePort(connection);
free(connection);
connection = NULL;
SCWrite(pCon,"ERROR: Failed to contact sync server",eError);
SCWrite(pCon,"Try again in order to reconnect before giving up",eWarning);
return 0;
}
/*
wait 10 seconds for correct message
*/
pBueffel[0] = '\0';
for(i = 0; i < 10; i++)
{
test = NETRead(connection,pRead,75,20*1000);
if(test < 0)
{
NETClosePort(connection);
free(connection);
connection = NULL;
SCWrite(pCon,"ERROR: Failed to contact sync server",eError);
SCWrite(pCon,
"Try again in order to reconnect before giving up",eWarning);
return 0;
}
else
{
strcat(pBueffel,pRead);
}
if(strstr(pBueffel,"TRANSACTIONFINISHED") == NULL)
{
test = 1;
break;
}
else
{
test = 0;
}
SicsWait(1);
}
if(!test)
{
SCWrite(pCon,"WARNING: sync server may not have exectued backup",
eWarning);
}
/*
now read the backup file and we are done
*/
test = InterpExecute(pSics,pCon,"restore");
if(test != 1)
{
SCWrite(pCon,"ERROR: Failed to read sync information",eError);
return 0;
}
/*
tell everybody that we have sync'ed
*/
ServerWriteGlobal("Simulation Server has SYNCHRONIZED!",eWarning);
return 1;
}

19
synchronize.h Normal file
View File

@ -0,0 +1,19 @@
/*
S y n c h r o n i z e
Synchronize parameters in this server with parameters from another
SICS server.
Mark Koennecke, March 2001
*/
#ifndef SICSSYNC
#define SICSSYNC
int MakeSync(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[]);
int Synchronize(SConnection *pCon, SicsInterp *pSics, void *pData,
int argc, char *argv[]);
#endif

1
tas.h
View File

@ -110,6 +110,7 @@
#define MAXPAR 94
#define MAXADD 20
#define MAXEVAR 10
/* --------------------- data structure -------------------------------*/

64
tascom.tcl
View File

@ -1,11 +1,11 @@
#---------------------------------------------------------------------------
# In order to run a triple axis spectrometer, SICS has to be made to behave
# like the ancinet MAD program from ILL. Some of the MAD commands had to
# like the ancient MAD program from ILL. Some of the MAD commands had to
# be implemented in C (see tas*.c) but others can be implemented in Tcl.
# This file contains the procedures and command definitions for this syntax
# adaption from SICS to MAD.
#
# Mark Koennecke, December 2000
# Mark Koennecke, December 2000, March 2001
#--------------------------------------------------------------------------
@ -16,8 +16,11 @@ if { [info exists tasinit] == 0 } {
set tasinit 1
SicsAlias fileeval do User
Publish ou User
Publish out User
Publish fi User
SicsAlias fi fix User
Publish cl User
SicsAlias cl clear
Publish co User
Publish fm User
Publish fz User
@ -33,7 +36,6 @@ if { [info exists tasinit] == 0 } {
Publish log User
Publish sz User
Publish sw User
Publish scaninfo Spy
}
#--------------------------------------------------------------------------
@ -41,7 +43,6 @@ if { [info exists tasinit] == 0 } {
set tasmot { a1 a2 a3 a4 a5 a6 mcv sro ach mtl mtu stl stu atu mgl sgl \
sgu agl}
#-------------------------------------------------------------------------
# some MAD variables can be directly mapped to internal SICS variables.
# Some others require special functions to be called for them to be set.
@ -106,7 +107,10 @@ proc madZero args {
#--------------------------------------------------------------------------
# This routine throws an error if a bad value for fx is given
proc fxi {val} {
proc fxi { {val -1000} } {
if {$val == -1000} {
return [format " fx = %d " [tasSplit [fx]] ]
}
if { $val != 1 && $val != 2} {
error "ERROR: Invalid value $val for parameter FX"
} else {
@ -115,11 +119,17 @@ proc fxi {val} {
}
#-------------------------------------------------------------------------
# Changing the scattering sense implies a change of the corresponding
# motors softzero as well: it is rotated by 180 degree. This is done
# by this function
# Changing the scattering sense has various consequences:
# for SM it is rejected as this requires a major rebuild of the guide hall.
# for SS only the parameter is changed.
# for SA - the parameter is changed
# - the A5 zero point is rotated by 180 degree
# - the lower software limit is set to the new zero point
proc scatSense {par {val -1000} } {
if { [tasSplit $par] == $val } {
return
}
switch $par {
ss {
set mot a3
@ -141,18 +151,40 @@ proc scatSense {par {val -1000} } {
if {$val != 1 && $val != -1 } {
error "ERROR: invalid scattering sense $val"
}
set oldzero [tasSplit [madZero $mot]]
madZero $mot [expr 180 + $oldzero]
$par $val
switch $par {
sm {
error \
"REJECTED: Pay 100 mil. swiss francs for a redesign of SINQ first"
}
ss {
$par $val
clientput [format " SS = %d" $val]
}
sa {
set oldzero [tasSplit [madZero $mot]]
set newZero [expr $val*180 + $oldzero]
madZero $mot $newZero
a5 softlowerlim $newZero
$par $val
}
}
}
#--------------------------------------------------------------------------
# The output command
proc out args {
if {[llength $args] == 0 } {
output ""
} else {
output [join $args]
}
}
proc ou args {
if {[llength $args] == 0 } {
output ""
}else {
} else {
output [join $args]
}
}
@ -395,7 +427,7 @@ proc varSet { command } {
if { [info exists tasmap($token)] == 1} {
set ret [catch {eval $tasmap($token) $value} msg]
if { $ret != 0} {
error [format "ERROR: error %s while setting %s" $msg $token]
error [format "ERROR: > %s < while setting %s" $msg $token]
} else {
clientput [format " %s = %s" $token $value]
}
@ -824,7 +856,7 @@ proc log args {
proc sz args {
global tasmot
set usage "\n Usage: \n\t sz motor newzero\n"
set usage "\n Usage: \n\t sz motor newval \n"
set line [string tolower [join $args]]
set pos 0
set mot [varToken $line $pos]
@ -851,7 +883,8 @@ proc sz args {
"%-8sOld: %8.2f %8.2f %8.2f %8.2f %8.2f %8.2f %8.2f\n" \
$mot $loh $los $pos $targ $his $hih $zero]
#-------action
madZero $mot $val
set newZero [expr $zero + ($val - $pos)]
madZero $mot $newZero
#-------- more output
set zero [tasSplit [madZero $mot]]
set loh [tasSplit [eval $mot hardlowerlim]]
@ -981,4 +1014,3 @@ proc sw args {
clientput [prsw]
}
}

38
tasdrive.c
View File

@ -65,13 +65,14 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
pTASdata self = NULL;
int iTAS = 0;
float tasTargets[20];
unsigned char tasTargetMask[20], tasMask[10];
float tasTargets[20], oldPos, oldEnergy[MAXEVAR];
unsigned char tasTargetMask[20], tasMask[MAXEVAR];
char *pPtr, pToken[20], pLine[256];
int varPointer, i, motorPointer, status, rStatus, lastToken;
char pBueffel[256];
unsigned char motorMask[MAXMOT];
float newPositions[MAXMOT];
pMotor pMot;
@ -99,6 +100,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
motorMask[10+i] = 0;
tasTargets[i] = .0;
tasTargets[i+10] = .0;
oldEnergy[i] = .0;
}
for(i = 0; i < MAXMOT; i++)
{
@ -144,6 +146,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
else if(varPointer >= 0 )
{
tasMask[varPointer] = 1;
oldEnergy[varPointer] = self->tasPar[EMIN+varPointer]->fVal;
self->tasPar[EMIN + varPointer]->fVal = atof(pToken);
}
else
@ -186,8 +189,17 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
if(motorMask[i] > 0)
{
sprintf(pBueffel,"Driving %s to %f",
tasMotorOrder[i],newPositions[i]);
pMot = FindMotor(pSics, tasMotorOrder[i]);
if(pMot)
{
MotorGetSoftPosition(pMot, pCon, &oldPos);
}
else
{
oldPos = -9999.;
}
sprintf(pBueffel,"Driving %s from %f to %f",
tasMotorOrder[i],oldPos,newPositions[i]);
SCWrite(pCon,pBueffel,eWarning);
status = StartMotor(pServ->pExecutor,pSics,pCon,
tasMotorOrder[i],newPositions[i]);
@ -215,8 +227,9 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
if(tasMask[i])
{
sprintf(pBueffel,"Driving %s to %f", tasVariableOrder[EI+i],
self->tasPar[EI+i]->fVal);
sprintf(pBueffel,"Driving %s from %f to %f", tasVariableOrder[EI+i],
oldEnergy[i],
self->tasPar[EI+i]->fVal);
SCWrite(pCon,pBueffel,eWarning);
}
}
@ -227,8 +240,17 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
{
if(tasTargetMask[i])
{
sprintf(pBueffel,"Driving %s to %f",tasMotorOrder[i],
tasTargets[i]);
pMot = FindMotor(pSics, tasMotorOrder[i]);
if(pMot)
{
MotorGetSoftPosition(pMot, pCon, &oldPos);
}
else
{
oldPos = -9999.;
}
sprintf(pBueffel,"Driving %s from %f to %f",tasMotorOrder[i],
oldPos, tasTargets[i]);
SCWrite(pCon,pBueffel,eWarning);
}
}

4
tasscan.c
View File

@ -424,11 +424,11 @@ static int TASScanPoint(pScanData self, int iPoint)
*/
if(pTAS->iPOL > 0)
{
sprintf(pBueffel,"%3d.%1d",iPoint,pTAS->iPOL);
sprintf(pBueffel,"%3d.%1d",iPoint+1,pTAS->iPOL);
}
else
{
sprintf(pBueffel,"%4d ", iPoint);
sprintf(pBueffel,"%4d ", iPoint+1);
}
/*

2
test.tcl
View File

@ -177,7 +177,7 @@ SicsAlias MTL sax
SicsAlias A3 som
#--------------------------------------------------------------------------
# C O U N T E R S
MakeCounter counter SIM
MakeCounter counter SIM .05
#MakeCounter counter EL737 lnsp19.psi.ch 4000 4
#--------------------------------------------------------------------------