Slight change to the way we do PID in SCT files

site_ansto/instrument/config/environment/hiden_xcs.sct

@@ -20,6 +20,11 @@ driver hiden_xcs = {
     group_property 'nxsave' = 'true'
     property 'klass' = 'environment'
     property 'sdsinfo' = '::nexus::scobj::sdsinfo'
+    var auto = {
+      type = int;
+      allowed = '0,1';
+      value = 0;
+    }
     var enabled = {
       permlink = 'G.X02'
       type = int;
@@ -64,12 +69,15 @@ driver hiden_xcs = {
       property pid_error = 0
       property pid_deriv = 0
       property pid_integ = 0
-      property pid_pvalue = 0.2
+      property pid_pvalue = 0.1
       property pid_ivalue = 0.1
       property pid_dvalue = 0.0
-      property pid_imax = 30
+      property pid_imax = 50
     }
     var setpoint = {
+      readable = 1;
+      read_command = '@'
+      fetch_function = getTarget
       permlink = 'G.SP01'
       driveable = flow/sensor
       write_function = write_flow
@@ -96,19 +104,22 @@ driver hiden_xcs = {
       property pid_error = 0
       property pid_deriv = 0
       property pid_integ = 0
-      property pid_pvalue = 0.2
+      property pid_pvalue = 1.0
-      property pid_ivalue = 0.1
+      property pid_ivalue = 0.10
       property pid_dvalue = 0.0
-      property pid_imax = 30
+      property pid_imax = 20
     }
     var setpoint = {
+      readable = 1;
+      read_command = '@'
+      fetch_function = getTarget
       permlink = 'G.SP02'
       driveable = humidity/sensor
       write_function = write_humidity
       checkrange_function = chkrange_function
       value = 50
-      lowerlimit = 10
+      lowerlimit = 0
-      upperlimit = 90
+      upperlimit = 100
       tolerance = 1
     }
   }
@@ -140,6 +151,14 @@ driver hiden_xcs = {
 # Code lines start with '@' which is stripped before being emitted into generated driver
 # The code is emitted at the appropriate place in the given function
 #
+  code getTarget = {
+@   if { [hpropexists [sct] target] } {
+@     sct result [sct target]
+@   } else {
+@     sct result [hval [sct]]
+@   }
+@   set cmd "@@NOSEND@@"
+  }
   code read_function read_digital = {
 @  if { [string equal -nocase -length 5 "${data}" "DOUT ="] } {
 @    set result [scan "${data}" "DOUT = %d OK" val]
@@ -222,6 +241,10 @@ driver hiden_xcs = {
   }
 
   code pid_function pid_humidity = {
+@    if { ![hval ${tc_root}/auto] } {
+@      set pid 0.0
+@      sct pid_integ 0.0
+@    }
 @    set sign 1
 @    foreach node [list ${tc_root}/analog/sp1 ${tc_root}/analog/sp2] {
 @      set sign [expr -${sign}]
@@ -252,6 +275,10 @@ driver hiden_xcs = {
   }
 
   code pid_function pid_flow = {
+@    if { ![hval ${tc_root}/auto] } {
+@      set pid 0.0
+@      sct pid_integ 0.0
+@    }
 @    foreach node [list ${tc_root}/analog/sp1 ${tc_root}/analog/sp2] {
 @      if { !([hpropexists ${node} bias_flow] && [hgetpropval ${node} bias_flow] == ${pid}) } {
 @        hsetprop ${node} bias_flow ${pid}
@@ -266,6 +293,7 @@ driver hiden_xcs = {
 
   code write_function write_digital = {
    }
+
    code write_function write_twelve = {
 @  if { [hpropexists [sct] base] } {
 @    set base [sct base]

site_ansto/instrument/config/environment/sct_hiden_xcs.tcl

@@ -176,6 +176,35 @@ proc ::scobj::hiden_xcs::fetch_flow {tc_root nextState cmd_str} {
   handle_exception ${catch_status} ${catch_message}
 }
 
+# function to request the read of a parameter on a device
+proc ::scobj::hiden_xcs::getTarget {tc_root nextState cmd_str} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "getTarget tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set cmd "${cmd_str}"
+# getTarget hook code starts
+   if { [hpropexists [sct] target] } {
+     sct result [sct target]
+   } else {
+     sct result [hval [sct]]
+   }
+   set cmd "@@NOSEND@@"
+# getTarget hook code ends
+    if { [hpropexists [sct] geterror] } {
+      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
+      error "[sct geterror]"
+    }
+    debug_log ${tc_root} 1 "getTarget sct send ${cmd}"
+    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
+      sct send "${cmd}"
+    }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
 # function to request the read of a parameter on a device
 proc ::scobj::hiden_xcs::getValue {tc_root nextState cmd_str} {
   set catch_status [ catch {
@@ -254,16 +283,20 @@ proc ::scobj::hiden_xcs::pid_flow {tc_root sp pv} {
     set p_value [expr {[sct pid_pvalue] * [sct pid_error]}]
     set d_value [expr {[sct pid_dvalue] * (${pv} - [sct oldval])}]
     sct pid_deriv [sct pid_error]
-    sct pid_integ [expr {[sct pid_integ] + [sct pid_error]}]
+    sct pid_integ [expr {[sct pid_integ] + [sct pid_error] * [sct pid_ivalue]}]
     if { [sct pid_integ] > [sct pid_imax] } {
       sct pid_integ [sct pid_imax]
     }
     if { [sct pid_integ] < -[sct pid_imax] } {
       sct pid_integ -[sct pid_imax]
     }
-    set i_value [expr {[sct pid_ivalue] * [sct pid_integ]}]
+    set i_value [sct pid_integ]
     set pid [expr {${p_value} + ${i_value} + ${d_value}}]
 # pid_flow hook code starts
+    if { ![hval ${tc_root}/auto] } {
+      set pid 0.0
+      sct pid_integ 0.0
+    }
     foreach node [list ${tc_root}/analog/sp1 ${tc_root}/analog/sp2] {
       if { !([hpropexists ${node} bias_flow] && [hgetpropval ${node} bias_flow] == ${pid}) } {
         hsetprop ${node} bias_flow ${pid}
@@ -289,16 +322,20 @@ proc ::scobj::hiden_xcs::pid_humidity {tc_root sp pv} {
     set p_value [expr {[sct pid_pvalue] * [sct pid_error]}]
     set d_value [expr {[sct pid_dvalue] * (${pv} - [sct oldval])}]
     sct pid_deriv [sct pid_error]
-    sct pid_integ [expr {[sct pid_integ] + [sct pid_error]}]
+    sct pid_integ [expr {[sct pid_integ] + [sct pid_error] * [sct pid_ivalue]}]
     if { [sct pid_integ] > [sct pid_imax] } {
       sct pid_integ [sct pid_imax]
     }
     if { [sct pid_integ] < -[sct pid_imax] } {
       sct pid_integ -[sct pid_imax]
     }
-    set i_value [expr {[sct pid_ivalue] * [sct pid_integ]}]
+    set i_value [sct pid_integ]
     set pid [expr {${p_value} + ${i_value} + ${d_value}}]
 # pid_humidity hook code starts
+    if { ![hval ${tc_root}/auto] } {
+      set pid 0.0
+      sct pid_integ 0.0
+    }
     set sign 1
     foreach node [list ${tc_root}/analog/sp1 ${tc_root}/analog/sp2] {
       set sign [expr -${sign}]
@@ -757,6 +794,19 @@ proc ::scobj::hiden_xcs::mkDriver { sct_controller name device_class simulation_
 
     set scobj_hpath /sics/${name}
 
+    hfactory ${scobj_hpath}/auto plain user int
+    hsetprop ${scobj_hpath}/auto control true
+    hsetprop ${scobj_hpath}/auto data true
+    hsetprop ${scobj_hpath}/auto mutable true
+    hsetprop ${scobj_hpath}/auto nxsave true
+    hsetprop ${scobj_hpath}/auto values 0,1
+    hsetprop ${scobj_hpath}/auto oldval 0
+    hset     ${scobj_hpath}/auto        0
+    hsetprop ${scobj_hpath}/auto klass "environment"
+    hsetprop ${scobj_hpath}/auto sdsinfo "::nexus::scobj::sdsinfo"
+    hsetprop ${scobj_hpath}/auto type "part"
+    hsetprop ${scobj_hpath}/auto nxalias "${name}_auto"
+
     hfactory ${scobj_hpath}/enabled plain user int
     hsetprop ${scobj_hpath}/enabled read ${ns}::getValue ${scobj_hpath} read_digital {?DOUT,2}
     hsetprop ${scobj_hpath}/enabled read_digital ${ns}::read_digital ${scobj_hpath}
@@ -1021,15 +1071,17 @@ proc ::scobj::hiden_xcs::mkDriver { sct_controller name device_class simulation_
     hsetprop ${scobj_hpath}/flow/sensor pid_deriv "0"
     hsetprop ${scobj_hpath}/flow/sensor pid_dvalue "0.0"
     hsetprop ${scobj_hpath}/flow/sensor pid_error "0"
-    hsetprop ${scobj_hpath}/flow/sensor pid_imax "30"
+    hsetprop ${scobj_hpath}/flow/sensor pid_imax "50"
     hsetprop ${scobj_hpath}/flow/sensor pid_integ "0"
     hsetprop ${scobj_hpath}/flow/sensor pid_ivalue "0.1"
-    hsetprop ${scobj_hpath}/flow/sensor pid_pvalue "0.2"
+    hsetprop ${scobj_hpath}/flow/sensor pid_pvalue "0.1"
     hsetprop ${scobj_hpath}/flow/sensor sdsinfo "::nexus::scobj::sdsinfo"
     hsetprop ${scobj_hpath}/flow/sensor type "part"
     hsetprop ${scobj_hpath}/flow/sensor nxalias "${name}_flow_sensor"
 
     hfactory ${scobj_hpath}/flow/setpoint plain user float
+    hsetprop ${scobj_hpath}/flow/setpoint read ${ns}::getTarget ${scobj_hpath} rdValue {@}
+    hsetprop ${scobj_hpath}/flow/setpoint rdValue ${ns}::rdValue ${scobj_hpath}
     hsetprop ${scobj_hpath}/flow/setpoint write ${ns}::write_flow ${scobj_hpath} noResponse {}
     hsetprop ${scobj_hpath}/flow/setpoint noResponse ${ns}::noResponse ${scobj_hpath}
     hsetprop ${scobj_hpath}/flow/setpoint check ${ns}::checkrange ${scobj_hpath}
@@ -1056,6 +1108,7 @@ proc ::scobj::hiden_xcs::mkDriver { sct_controller name device_class simulation_
 
     if {[string equal -nocase "${simulation_flag}" "false"]} {
       ${sct_controller} poll ${scobj_hpath}/flow/sensor 1
+      ${sct_controller} poll ${scobj_hpath}/flow/setpoint 1
       ${sct_controller} write ${scobj_hpath}/flow/setpoint
     } else {
       ::scobj::hiden_xcs::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for hiden_xcs"
@@ -1081,15 +1134,17 @@ proc ::scobj::hiden_xcs::mkDriver { sct_controller name device_class simulation_
     hsetprop ${scobj_hpath}/humidity/sensor pid_deriv "0"
     hsetprop ${scobj_hpath}/humidity/sensor pid_dvalue "0.0"
     hsetprop ${scobj_hpath}/humidity/sensor pid_error "0"
-    hsetprop ${scobj_hpath}/humidity/sensor pid_imax "30"
+    hsetprop ${scobj_hpath}/humidity/sensor pid_imax "20"
     hsetprop ${scobj_hpath}/humidity/sensor pid_integ "0"
     hsetprop ${scobj_hpath}/humidity/sensor pid_ivalue "0.1"
-    hsetprop ${scobj_hpath}/humidity/sensor pid_pvalue "0.2"
+    hsetprop ${scobj_hpath}/humidity/sensor pid_pvalue "1.0"
     hsetprop ${scobj_hpath}/humidity/sensor sdsinfo "::nexus::scobj::sdsinfo"
     hsetprop ${scobj_hpath}/humidity/sensor type "part"
     hsetprop ${scobj_hpath}/humidity/sensor nxalias "${name}_humidity_sensor"
 
     hfactory ${scobj_hpath}/humidity/setpoint plain user float
+    hsetprop ${scobj_hpath}/humidity/setpoint read ${ns}::getTarget ${scobj_hpath} rdValue {@}
+    hsetprop ${scobj_hpath}/humidity/setpoint rdValue ${ns}::rdValue ${scobj_hpath}
     hsetprop ${scobj_hpath}/humidity/setpoint write ${ns}::write_humidity ${scobj_hpath} noResponse {}
     hsetprop ${scobj_hpath}/humidity/setpoint noResponse ${ns}::noResponse ${scobj_hpath}
     hsetprop ${scobj_hpath}/humidity/setpoint check ${ns}::chkrange_function ${scobj_hpath}
@@ -1102,8 +1157,8 @@ proc ::scobj::hiden_xcs::mkDriver { sct_controller name device_class simulation_
     hsetprop ${scobj_hpath}/humidity/setpoint data true
     hsetprop ${scobj_hpath}/humidity/setpoint mutable true
     hsetprop ${scobj_hpath}/humidity/setpoint nxsave true
-    hsetprop ${scobj_hpath}/humidity/setpoint lowerlimit 10
+    hsetprop ${scobj_hpath}/humidity/setpoint lowerlimit 0
-    hsetprop ${scobj_hpath}/humidity/setpoint upperlimit 90
+    hsetprop ${scobj_hpath}/humidity/setpoint upperlimit 100
     hsetprop ${scobj_hpath}/humidity/setpoint tolerance 1
     hsetprop ${scobj_hpath}/humidity/setpoint permlink data_set "G[format "%02d" ${id}]SP02"
     hsetprop ${scobj_hpath}/humidity/setpoint @description "G[format "%02d" ${id}]SP02"
@@ -1116,6 +1171,7 @@ proc ::scobj::hiden_xcs::mkDriver { sct_controller name device_class simulation_
 
     if {[string equal -nocase "${simulation_flag}" "false"]} {
       ${sct_controller} poll ${scobj_hpath}/humidity/sensor 1
+      ${sct_controller} poll ${scobj_hpath}/humidity/setpoint 1
       ${sct_controller} write ${scobj_hpath}/humidity/setpoint
     } else {
       ::scobj::hiden_xcs::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for hiden_xcs"

site_ansto/instrument/util/gen_sct.py

@@ -1217,14 +1217,14 @@ def put_pid_function(MyDriver, func):
     txt += ['    set p_value [expr {[sct pid_pvalue] * [sct pid_error]}]']
     txt += ['    set d_value [expr {[sct pid_dvalue] * (${pv} - [sct oldval])}]']
     txt += ['    sct pid_deriv [sct pid_error]']
-    txt += ['    sct pid_integ [expr {[sct pid_integ] + [sct pid_error]}]']
+    txt += ['    sct pid_integ [expr {[sct pid_integ] + [sct pid_error] * [sct pid_ivalue]}]']
     txt += ['    if { [sct pid_integ] > [sct pid_imax] } {']
     txt += ['      sct pid_integ [sct pid_imax]']
     txt += ['    }']
     txt += ['    if { [sct pid_integ] < -[sct pid_imax] } {']
     txt += ['      sct pid_integ -[sct pid_imax]']
     txt += ['    }']
-    txt += ['    set i_value [expr {[sct pid_ivalue] * [sct pid_integ]}]']
+    txt += ['    set i_value [sct pid_integ]']
     txt += ['    set pid [expr {${p_value} + ${i_value} + ${d_value}}]']
     if func in MyDriver['Funcs'] and len(MyDriver['Funcs'][func]['text']) > 0:
         txt += ['# %s hook code starts' % func]