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Make sure that the command status transitions to IDLE if it was set to BUSY

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This commit is contained in:
Ferdi Franceschini
2013-08-15 08:04:15 +10:00
parent 564b7c9bd5
commit cafbd02b68
1 changed files with 15 additions and 0 deletions
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15
site_ansto/instrument/config/motors/sct_positmotor_common.tcl
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@@ -19,6 +19,12 @@ if [ catch {
} }
set path [sct] set path [sct]
if {[hval $path/status] == "STOPPING"} { if {[hval $path/status] == "STOPPING"} {
hset $path/driving "false"
hset $path/status "IDLE"
} elseif { ([hval $path/driving] == "false") && ([hval $path/status] == "BUSY") } {
hset $path/driving "starting"
} elseif { ([hval $path/driving] == "starting") && ([hval $path/status] == "BUSY") } {
hset $path/driving "false"
hset $path/status "IDLE" hset $path/status "IDLE"
} }
return idle return idle
@@ -35,6 +41,7 @@ proc ::scobj::positmotor::reqVal {state motor} {
# @brief Convert the target position to a motor position and drive the motor to the target. # @brief Convert the target position to a motor position and drive the motor to the target.
proc ::scobj::positmotor::setVal {ID2valXfn motor table} { proc ::scobj::positmotor::setVal {ID2valXfn motor table} {
set path [sct] set path [sct]
hdelprop $path error_in_::scobj::positmotor::setVal
set pos [$ID2valXfn [sct target] $table] set pos [$ID2valXfn [sct target] $table]
hset $path/status "BUSY" hset $path/status "BUSY"
run $motor $pos run $motor $pos
@@ -73,6 +80,8 @@ proc mkPosit {sct_controller name type motor klass table} {
hfactory /sics/$name/status plain spy text hfactory /sics/$name/status plain spy text
hset /sics/$name/status "IDLE" hset /sics/$name/status "IDLE"
hfactory /sics/$name/driving plain spy text
hset /sics/$name/driving "false"
proc ${ns}::${motor}_MOTEND {} [subst -nocommands { proc ${ns}::${motor}_MOTEND {} [subst -nocommands {
if { [hval /sics/$name/status] == "BUSY"} { if { [hval /sics/$name/status] == "BUSY"} {
@@ -82,6 +91,12 @@ proc mkPosit {sct_controller name type motor klass table} {
publish ${ns}::${motor}_MOTEND user publish ${ns}::${motor}_MOTEND user
scriptcallback connect $motor MOTEND ${ns}::${motor}_MOTEND scriptcallback connect $motor MOTEND ${ns}::${motor}_MOTEND
proc ${ns}::${motor}_MOTDRIVE {} [subst -nocommands {
hset /sics/$name/driving "true"
}]
publish ${ns}::${motor}_MOTDRIVE user
scriptcallback connect $motor MOTORDRIVE ${ns}::${motor}_MOTDRIVE
::scobj::hinitprops $name ::scobj::hinitprops $name
$sct_controller poll /sics/$name 2 $sct_controller poll /sics/$name 2
$sct_controller write /sics/$name $sct_controller write /sics/$name