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SICS-606 Allow defining multiple motors and ranges to forbid moves.

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Added to support the anticollision requirements for the monochrommator
axes on Pelican.
This commit is contained in:
Ferdi Franceschini
2013-05-17 03:22:49 +10:00
parent 4873263714
commit caa10de20e
1 changed files with 11 additions and 9 deletions
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20
site_ansto/instrument/config/anticollider/anticollider_common.tcl
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@ -54,9 +54,9 @@ proc ::anticollider::genveto {vprog} {
array set vp $line array set vp $line
if [info exists vp(whenall)] { if [info exists vp(whenall)] {
foreach {mot in range} $vp(whenall) { foreach {mot in range} $vp(whenall) {
if {[llength [join $range]] != 2} { # if {[llength [join $range]] != 2} {
error "ERROR: $range is not a valid range for $mot. Line $lnum of the veto list" # error "ERROR: $range is not a valid range for $mot. Line $lnum of the veto list"
} # }
lappend condlist $mot $range lappend condlist $mot $range
} }
lappend veto_region($vp(for)) [list $vp(forbid) @and $condlist] lappend veto_region($vp(for)) [list $vp(forbid) @and $condlist]
@ -101,16 +101,17 @@ proc ::anticollider::acscript {args} {
foreach row $veto_region($regmot) { foreach row $veto_region($regmot) {
if { [lindex $row 1] == "@and"} { if { [lindex $row 1] == "@and"} {
set forbid [lindex $row 0] set forbid [lindex $row 0]
set no_veto 0 set veto 0
foreach {mot range} [lindex $row 2] { foreach {mot range} [lindex $row 2] {
set pos [SplitReply [$mot]] set pos [SplitReply [$mot]]
foreach {lower upper} $range {} foreach {lower upper} [join $range] {
if {$pos < $lower || $pos > $upper} { if {$pos >= $lower && $pos <= $upper} {
set no_veto 1 set veto 1
break break
}
} }
} }
if {$no_veto} { if {!$veto} {
continue continue
} else { } else {
foreach {min max} $forbid {} foreach {min max} $forbid {}
@ -171,6 +172,7 @@ proc ::anticollider::init {} {
anticollision register $motor anticollision register $motor
} }
} message ] { } message ] {
clientput [info level 0] ERROR: $message
if {$::errorCode=="NONE"} {return $message} if {$::errorCode=="NONE"} {return $message}
return -code error $message return -code error $message
} }