Add some more checking and fix drive end bug

site_ansto/instrument/config/environment/knauer_pump.sct

@@ -11,10 +11,15 @@ driver knauer_pump = {
   group dummy = {
     type = text; readable = 1; data = false; control = false; nxsave = false;
     var status = { read_command = 'STATUS?'; read_function = read_status; }
-    var glp = { read_command = 'GLP?'; read_function = read_glp; }
+    var glp = { read_command = 'GLP?'; read_function = read_glp; property real_data = ' '; }
   }
 
   group pump = {
+    var remote = {
+      type = int;
+      readable = 1; read_command = 'REMOTE?'; read_function = remote_read;
+      writeable = 1; write_function = remote_write;
+    }
     var state = {
       type = text;
       readable = 1;
@@ -157,7 +162,11 @@ driver knauer_pump = {
     set index ${cmd_str}
     set data [hgetpropval ${tc_root}/dummy/glp real_data]
     set dlist [split ${data} ","]
+    if { [llength ${dlist}] > ${index} } {
       sct result [lindex ${dlist} ${index}]
+    } else {
+      sct result ""
+    }
     set cmd "@@NOSEND@@"
   %%}
 
@@ -165,14 +174,21 @@ driver knauer_pump = {
     set index ${cmd_str}
     set data [hgetpropval ${tc_root}/dummy/status real_data]
     set dlist [split ${data} ","]
+    if { [llength ${dlist}] > ${index} } {
       sct result [lindex ${dlist} ${index}]
+    } else {
+      sct result ""
+    }
     set cmd "@@NOSEND@@"
   %%}
 
   code read_glp = {%%
+    if { [string equal -nocase -length 6 ${data} "ERROR:"] } {
+    } else {
       set dlist [split [lindex [split ${data} ":"] 1] ","]
       sct real_data "[join [lrange ${dlist} 0 end] ,]"
       set data "Hidden in real_data property"
+    }
   %%}
   code read_status = {%%
     set dlist [split [lindex [split ${data} ":"] 1] ","]
@@ -271,6 +287,22 @@ driver knauer_pump = {
     }
   %%}
 
+  code remote_read = {%%
+    if { [string equal -length 7 ${data} "REMOTE:"] } {
+      set data [lindex [split ${data} :] 1]
+    } else {
+      sct geterror "bad response"
+      error "[sct geterror]"
+    }
+  %%}
+
+  code remote_write = {%%
+    if { ${par} == 0 } {
+      set cmd "LOCAL"
+    } else {
+      set cmd "REMOTE"
+    }
+  %%}
   code volume_fetch = {%%
     set data [hgetpropval ${tc_root}/dummy/glp real_data]
     set dlist [split ${data} ","]
@@ -284,10 +316,10 @@ driver knauer_pump = {
     sct raw_volume ${pump_volume}
     if { [hpropexists [sct] base_volume] } {
       set pump_volume [expr {${pump_volume} - [sct base_volume]}]
-    } else {
+    } elseif { [hpropexists [sct] raw_volume] } {
       sct base_volume [sct raw_volume]
     }
-    sct result ${pump_volume}
+    sct result [format "%.2f" ${pump_volume}]
     set cmd "@@NOSEND@@"
   %%}
   code volume_write = {%%
@@ -297,6 +329,13 @@ driver knauer_pump = {
     set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
     set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,3"
     sct pumping 1
+    set data ${par}
+    if { ${data} != [sct oldval] } {
+      debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
+      sct oldval ${data}
+      sct update ${data}
+      sct utime readtime
+    }
   %%}
 
   code volume_checkpumping = {%%
@@ -313,6 +352,7 @@ driver knauer_pump = {
         set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
         set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
         set nextState noResponse
+        sct driving 0
         sct pumping 0
       }
     }