From d83b346ef747aa15c99c9223e531b2d67f25b396 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Fri, 18 Feb 2011 11:22:21 +1100
Subject: [PATCH] Changes to ROTATE in driver to match changes in Robots r3063
 | dcl | 2011-02-18 11:22:21 +1100 (Fri, 18 Feb 2011) | 1 line

---
 .../config/robots/sct_pickandplace.tcl        | 33 ++++++++++++++++---
 1 file changed, 28 insertions(+), 5 deletions(-)

diff --git a/site_ansto/instrument/config/robots/sct_pickandplace.tcl b/site_ansto/instrument/config/robots/sct_pickandplace.tcl
index 3492ac63..0744bb0b 100644
--- a/site_ansto/instrument/config/robots/sct_pickandplace.tcl
+++ b/site_ansto/instrument/config/robots/sct_pickandplace.tcl
@@ -40,6 +40,23 @@ debug_log "setNam new data for $tc_root [sct] result=$data"
     return $nextState
   }
 
+  proc setRot {tc_root nextState cmd} {
+    set data [string toupper [sct target]]
+    if {$data != [sct oldval]} {
+      sct oldval $data
+      sct update $data
+      sct utime readtime
+debug_log "setRot new data for $tc_root [sct] result=$data"
+      if {$data > 0} {
+        hset $tc_root/status "busy"
+        sct send "ROTATE $data -1"
+      } else {
+        sct send "STOPROT"
+      }
+    }
+    return $nextState
+  }
+
   proc chkWrite {tc_root} {
     set data [sct result]
 debug_log "chkWrite resp=$data sct=[sct] tc_root=$tc_root"
@@ -82,8 +99,6 @@ debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]
       sct utime readtime
 debug_log "setPoint new data for $tc_root [sct] result=$par"
     }
-    hset $tc_root/status "busy"
-    sct print "status: busy"
     if { [sct target] == 1 } {
       if { [string toupper [hval $tc_root/Control/Target_Loc]] == "BEAM" } {
         set cmd  "SampToBeam [hval $tc_root/Control/Pallet_Nam] [hval $tc_root/Control/Pallet_Idx]"
@@ -120,6 +135,8 @@ debug_log "sct send $cmd"
         debug_log "error:$err_msg"
         return -code error "$err_msg"
     }
+    hset $tc_root/status "busy"
+    sct print "status: busy"
     hsetprop $tc_root/setpoint driving 1
     } catch_message ]
     if {$catch_status != 0} {
@@ -198,8 +215,12 @@ debug_log "getState returns: $nextState"
         set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
         if { $my_driving } {
           if { [string toupper [sct result]] == "IDLE" } {
+            hset $tc_root/status "idle"
             hsetprop $tc_root/setpoint driving 0
             hset     $tc_root/sensor/value [hval $tc_root/setpoint]
+            if {[hval $tc_root/Control/Rotate] > 0} {
+              hset $tc_root/Control/Rotate 0
+            }
           }
         }
       }
@@ -236,10 +257,11 @@ debug_log "getState returns: $nextState"
 # NOTE: The drive adapter initially sets the writestatus to "start" and will
 # only call this when writestatus!="start"
   proc drivestatus {tc_root} {
-    if {[sct driving]} {
+    if {[hval $tc_root/status] == "busy"} {
+      return busy
+    } elseif {[sct driving]} {
       return busy
     } else {
-      sct print "drivestatus: idle"
       return idle
     }
   }
@@ -358,6 +380,7 @@ debug_log "Registering node $nodeName for write callback"
         Control  Pallet_Nam      0 1 0 text  user     {}         {}             {}                 {setNam}   {A,B}\
         Control  Pallet_Idx      0 1 0 int   user     {}         {}             {}                 {}         {}\
         Control  Target_Loc      0 1 0 Text  user     {}         {}             {}                 {setNam}   {Beam,Vacuum}\
+        Control  Rotate          0 1 0 int   user     {}         {}             {}                 {setRot}   {}\
       }
 
       hfactory $scobj_hpath/sensor plain spy none
@@ -461,4 +484,4 @@ namespace import ::scobj::robot_pp::*
 
 #add_robot robbie 137.157.201.213 502 5
 #add_robot robbie localhost 30509
-#add_robot robbie 137.157.201.26 6000
+add_robot robbie 137.157.201.26 6000