Refactor aperture selection and report aperture positions at end of drive.

Improve feedback.

site_ansto/instrument/bilby/config/motors/motor_configuration.tcl

@@ -84,6 +84,39 @@ proc return_non_numeric {val} {
     return -9999
   }
 }
+
+proc posname {pmot} {
+  set pos [ SplitReply [$pmot] ]
+  set tol [ SplitReply [$pmot precision] ]
+  set pnames [SplitReply [$pmot position_names]]
+  set positions [SplitReply [$pmot positions]]
+  set first_pos [lindex $positions 0]
+  set last_pos [lindex $positions end]
+
+  if {[expr abs($pos - $first_pos)] < $tol} {
+    return [lindex $pnames 0]
+  } elseif {$pos < $first_pos} {
+    return "before_[lindex $pnames 0]"
+  }
+
+  if {[expr abs($pos - $last_pos)] < $tol} {
+    return [lindex $pnames end]
+  } elseif {$pos > $last_pos} {
+    return "after_[lindex $pnames end]"
+  }
+
+  set next_index 1
+  foreach name [lrange $pnames 0 end-1] posit [lrange $positions 0 end-1] {
+    if {[expr abs($pos - $posit)] <= $tol} {
+      return $name
+    } elseif {$pos > [expr {$posit + $tol}] && $pos < [expr {[lindex $positions $next_index] - $tol}]} {
+      return "between_${name}_[lindex $pnames $next_index]"
+    }
+    incr next_index
+  }
+}
+publish posname user
+
 # Length of a guide
 ::utility::mkVar lenguide float user lenguide true instrument true true
 # Space between guides
@@ -122,6 +155,7 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
     set state $FINDFIRST
     set apdrvlist {}
     set pcdrvlist {}
+    set ap_target_list {}
     if {$num != "REPORTNUM"} {
       if {$num >= 0 && $num < 8} {
         if { $sel_ap_name == "NONE" || $aprest_name == "NONE" } {
@@ -162,37 +196,8 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
       } else {
         error "$EMSG(invalidarg)"
       }
-    }
+      # Select Apertures
-    for {set n 1} {$n <= 8} {incr n} {
+      if {$num >= 0 && $num < 8} {
-      set currpos [SplitReply [pc$n]]
-      set table_guideunit [SplitReply [pc$n posit2unit $guideposit]]
-      set table_appunit [SplitReply [pc$n posit2unit $apposit]]
-      switch $state [subst {
-        $FINDFIRST {
-          if {[expr {abs($currpos - $table_appunit)}] <= $tol} {
-            continue
-          } elseif {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
-            incr ng
-            set state $COUNT
-          } else {
-            return "$EMSG(misaligned)"
-          }
-        }
-        $COUNT {
-          if {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
-            incr ng
-          } else {
-          # ERROR There shouldn't be any gaps in the selection
-            return "$EMSG(gaps)"
-          }
-        }
-      }]
-    }
-    if {$CheckDrive} {
-      if {$ng != $num} {
-        error "$EMSG(drivefailed)"
-      } elseif {$num >= 0 && $num < 8} {
-        set ap_target_list {}
         set sel_ap_pos [SplitReply [ ap$last ]]
         set req_sel_ap_pos [ SplitReply [ ap$last posit2unit $sel_ap_name ] ]
         set sel_ap_prec [ SplitReply [ap$last precision] ]
@@ -210,21 +215,72 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
         if {[llength $ap_target_list] > 0} {
           pdrive {*}$ap_target_list
         }
-        foreach {ap_mot ap_name} $ap_target_list {
-          if { [expr abs($req_pos - $sel_pos)] > $prec } {
-            error "$EMSG(apfailed): $ap_mot"
-          }
-        }
       }
     }
-    return "[lindex [info level 0] 0] = $ng"
+
+    # Check guide alignment
+    set ap_posname_list {}
+    for {set n 1} {$n <= 8} {incr n} {
+      set currpos [SplitReply [pc$n]]
+      set table_guideunit [SplitReply [pc$n posit2unit $guideposit]]
+      set table_appunit [SplitReply [pc$n posit2unit $apposit]]
+
+      switch $state [subst {
+        $FINDFIRST {
+          if {[expr {abs($currpos - $table_appunit)}] <= $tol} {
+            set ap_posname_list {[linsert $ap_posname_list 0 ap${n}=[posname ap$n]]}
+            continue
+          } elseif {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
+            incr ng
+            set state $COUNT
+          } else {
+            clientput "$EMSG(misaligned)"
+            break
+          }
+        }
+        $COUNT {
+          if {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
+            incr ng
+          } else {
+          # ERROR There shouldn't be any gaps in the selection
+            clientput "$EMSG(gaps)"
+            break
+          }
+        }
+      }]
+    }
+
+    if {$CheckDrive} {
+      set drive_ok true
+      if {$ng != $num} {
+        set drive_ok false
+        clientput "$EMSG(drivefailed): Failed to selected guides"
+      }
+      foreach {ap_mot ap_name} $ap_target_list {
+        set pos [SplitReply [$ap_mot]]
+        set tol [SplitReply [$ap_mot precision]]
+        set target [SplitReply [$ap_mot posit2unit $ap_name]]
+        if {[expr {abs($pos - $target)}] > $tol} {
+          set drive_ok false
+          clientput "$EMSG(drivefailed): Apertures off target"
+          break
+        }
+      }
+      if {$drive_ok} {
+        clientput "nguide finished successfully"
+      } else {
+        clientput "nguide finished with errors"
+      }
+    }
+    return "[lindex [info level 0] 0] = $ng $ap_posname_list"
   } message ]
   handle_exception $catch_status $message
 }
 publish nguide user
 
 ::utility::macro::getset float gs_nguide { {num "REPORTNUM"} {ap "NONE"} {aprest "NONE"}} {
-  return_non_numeric [nguide $num $ap $aprest]
+  # Just return number of selected guides from HDB node
+  return_non_numeric [lrange [nguide $num $ap $aprest] 2 2]
 }
 sicslist setatt gs_nguide klass instrument
 sicslist setatt gs_nguide long_name nguide