Make all sct drivers.
This commit is contained in:
Ferdi Franceschini
@@ -60,7 +60,7 @@ proc ::scobj::pfeiffer_hg::ack_enq {tc_root} {
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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}
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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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@@ -197,19 +197,19 @@ proc ::scobj::pfeiffer_hg::noResponse {tc_root} {
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proc ::scobj::pfeiffer_hg::pid_pressure {tc_root sp pv} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "pid_pressure tc_root=${tc_root} sct=[sct] pv=${pv} sp=${sp}"
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sct pid_error [expr ${sp} - ${pv}]
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set p_value [expr [sct pid_pvalue] * [sct pid_error]]
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set d_value [expr [sct pid_dvalue] * (${pv} - [sct oldval])]
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sct pid_error [expr {${sp} - ${pv}}]
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set p_value [expr {[sct pid_pvalue] * [sct pid_error]}]
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set d_value [expr {[sct pid_dvalue] * (${pv} - [sct oldval])}]
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sct pid_deriv [sct pid_error]
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sct pid_integ [expr [sct pid_integ] + [sct pid_error]]
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sct pid_integ [expr {[sct pid_integ] + [sct pid_error]}]
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if { [sct pid_integ] > [sct pid_imax] } {
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sct pid_integ [sct pid_imax]
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}
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if { [sct pid_integ] < -[sct pid_imax] } {
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sct pid_integ -[sct pid_imax]
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}
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set i_value [expr [sct pid_ivalue] * [sct pid_integ]]
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set pid [expr ${p_value} + ${i_value} + ${d_value}]
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set i_value [expr {[sct pid_ivalue] * [sct pid_integ]}]
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set pid [expr {${p_value} + ${i_value} + ${d_value}}]
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# pid_pressure hook code starts
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if { [hpropexists [sct] pid_control] } {
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set co [hgetpropval [sct] pid_control]
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@@ -249,7 +249,7 @@ proc ::scobj::pfeiffer_hg::rdValue {tc_root} {
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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}
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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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@@ -289,7 +289,7 @@ proc ::scobj::pfeiffer_hg::readPR1 {tc_root} {
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sct oldval ${data}
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sct update ${data}
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sct utime readtime
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}
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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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@@ -446,12 +446,14 @@ proc ::scobj::pfeiffer_hg::mkDriver { sct_controller name } {
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if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
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${sct_controller} poll ${scobj_hpath}/pressure/sensor 1
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${sct_controller} write ${scobj_hpath}/pressure/setpoint
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ansto_makesctdrive ${name}_pressure_setpoint ${scobj_hpath}/pressure/setpoint ${scobj_hpath}/pressure/sensor ${sct_controller}
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} else {
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::scobj::pfeiffer_hg::sics_log 9 "[environment_simulation] => No poll/write for pfeiffer_hg"
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}
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hsetprop ${scobj_hpath} klass environment
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hsetprop ${scobj_hpath} debug_threshold 5
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if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
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ansto_makesctdrive ${name}_pressure_setpoint ${scobj_hpath}/pressure/setpoint ${scobj_hpath}/pressure/sensor ${sct_controller}
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}
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# mkDriver hook code starts
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hsetprop ${scobj_hpath}/pressure/sensor read ${ns}::sendPR1 ${scobj_hpath} ack_enq {PR1}
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hsetprop ${scobj_hpath}/pressure/sensor ack_enq ${ns}::ack_enq ${scobj_hpath}
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@@ -493,14 +495,17 @@ clientput "file evaluation of sct_pfeiffer_hg.tcl"
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proc ::scobj::pfeiffer_hg::read_config {} {
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set catch_status [ catch {
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set ns "::scobj::pfeiffer_hg"
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dict for {k v} $::config_dict {
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if { [dict exists $v "implementation"] } {
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if { !([dict exists $v "name"] && [dict exists $v "enabled"]) } {
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dict for {k u} $::config_dict {
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if { [dict exists $u "implementation"] } {
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if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
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continue
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}
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set name [dict get $v name]
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set enabled [string tolower [dict get $v "enabled"]]
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set implementation [dict get $v "implementation"]
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set enabled [string tolower [dict get $u "enabled"]]
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if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
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continue
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}
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set name [dict get $u name]
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set implementation [dict get $u "implementation"]
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if { !([dict exists $::config_dict $implementation]) } {
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continue
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}
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@@ -509,31 +514,37 @@ proc ::scobj::pfeiffer_hg::read_config {} {
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continue
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}
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if { [string equal -nocase [dict get $v "driver"] "pfeiffer_hg"] } {
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if { [string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"] } {
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if { ![string equal -nocase [SplitReply [environment_simulation]] "false"] } {
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set asyncqueue "null"
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${ns}::sics_log 9 "[environment_simulation] => using null asyncqueue"
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} elseif { [dict exists $v "asyncqueue"] } {
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set asyncqueue [dict get $v "asyncqueue"]
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} else {
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if { [dict exists $v "asyncprotocol"] } {
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set asyncprotocol [dict get $v "asyncprotocol"]
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} else {
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set asyncprotocol ${name}_protocol
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MakeAsyncProtocol ${asyncprotocol}
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if { [dict exists $v "terminator"] } {
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${asyncprotocol} sendterminator "[dict get $v "terminator"]"
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${asyncprotocol} replyterminator "[dict get $v "terminator"]"
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}
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}
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set asyncqueue ${name}_queue
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if { ![string equal -nocase [SplitReply [environment_simulation]] "false"] } {
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set asyncqueue "null"
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${ns}::sics_log 9 "[environment_simulation] => using null asyncqueue"
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} elseif { [dict exists $v "asyncqueue"] } {
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set asyncqueue [dict get $v "asyncqueue"]
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if { [string equal -nocase ${asyncqueue} "sct"] } {
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set IP [dict get $v ip]
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set PORT [dict get $v port]
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MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${IP} ${PORT}
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if { [dict exists $v "timeout"] } {
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${asyncqueue} timeout "[dict get $v "timeout"]"
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}
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} else {
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if { [dict exists $v "asyncprotocol"] } {
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set asyncprotocol [dict get $v "asyncprotocol"]
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} else {
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set asyncprotocol ${name}_protocol
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MakeAsyncProtocol ${asyncprotocol}
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if { [dict exists $v "terminator"] } {
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${asyncprotocol} sendterminator "[dict get $v "terminator"]"
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${asyncprotocol} replyterminator "[dict get $v "terminator"]"
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}
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}
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set asyncqueue ${name}_queue
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set IP [dict get $v ip]
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set PORT [dict get $v port]
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MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${IP} ${PORT}
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if { [dict exists $v "timeout"] } {
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${asyncqueue} timeout "[dict get $v "timeout"]"
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}
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}
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if { [string equal -nocase ${asyncqueue} "sct"] } {
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add_pfeiffer_hg ${name} ${IP} ${PORT}
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} else {
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add_pfeiffer_hg ${name} "aqadapter" ${asyncqueue}
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}
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}
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