Add an OUT position to apertures. Copy bug fixes and improvements from ics1-bilby.
Also provide a motor object to read the second encoder on the velocity selector translation stage for diagnostic purposes.
This commit is contained in:
Ferdi Franceschini
@ -11,28 +11,28 @@ namespace import ::scobj::shutters::selrs
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# Eg, mot fixed 1
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# Define "proc motor_set_sobj_attributes {}" if we need to define extra sicslist attributes for some motors.
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foreach pos {33.662109 48.691406 63.621826 78.695068 100.678711} {
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foreach pos {1.0 33.662109 48.691406 63.621826 78.695068 100.678711} {
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lappend ap1_positions [expr $pos + 0]
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}
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foreach pos {40.924072 55.986328 71.015625 86.088867 108.061523} {
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foreach pos {2.0 40.924072 55.986328 71.015625 86.088867 108.061523} {
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lappend ap2_positions [expr $pos - 1.0]
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}
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foreach pos {31.651611 46.724854 61.622314 76.596680 98.712158} {
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foreach pos {1.0 31.651611 46.724854 61.622314 76.596680 98.712158} {
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lappend ap3_positions [expr $pos + 0]
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}
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foreach pos {36.947021 51.943359 66.939697 81.914062 103.930664} {
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foreach pos {1.0 36.947021 51.943359 66.939697 81.914062 103.930664} {
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lappend ap4_positions [expr $pos + 0]
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}
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foreach pos {33.651123 48.691406 63.676758 78.695068 100.678711} {
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foreach pos {1.0 33.651123 48.691406 63.676758 78.695068 100.678711} {
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lappend ap5_positions [expr $pos + 0]
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}
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foreach pos {38.402710 53.481445 68.378906 83.232422 105.424805} {
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foreach pos {1.0 38.402710 53.481445 68.378906 83.232422 105.424805} {
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lappend ap6_positions [expr $pos + 0]
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}
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foreach pos {31.942749 46.966553 61.995850 77.025146 99.074707} {
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foreach pos {1.0 31.942749 46.966553 61.995850 77.025146 99.074707} {
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lappend ap7_positions [expr $pos + 0]
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}
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foreach pos {40.830688 55.821533 70.966187 85.792236 107.880249} {
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foreach pos {1.0 40.830688 55.821533 70.966187 85.792236 107.880249} {
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lappend ap8_positions [expr $pos + 0]
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}
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@ -41,7 +41,7 @@ for {set n 1} {$n <= 8} {incr n} {
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pc$n position_names guide apertures
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make_coll_motor_1 a$n a$n ap$n count
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ap$n positions {*}[set ap${n}_positions]
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ap$n position_names D10 D20 D40 S40 R100
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ap$n position_names OUT D10 D20 D40 S40 R100
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}
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# Make a position-motor for the attenuator
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@ -220,12 +220,10 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
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set catch_status [ catch {
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set CheckDrive false
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set ap_names { D10 D20 D40 S40 R100 }
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array set EMSG {
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invalidarg "Invalid arguments"
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gaps "There are gaps in the sequence of selected guides"
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drivefailed "Drive failed."
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misaligned "Misalignment. At least one guide is not in the aperture or guide position"
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apfailed "Failed to set apertures"
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array set ETYPE_LIST {
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gaps "(gaps between guides)"
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misaligned "(one or more guides not in the aperture or guide position)"
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apfailed "(failed to set apertures)"
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}
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set GUIDEPOSIT 1
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set APPOSIT 2
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@ -233,21 +231,22 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
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set apdrvlist {}
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set pcdrvlist {}
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set ap_target_list {}
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set ETYPE ""
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if {$num != "REPORTNUM"} {
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if {$num >= 0 && $num < 7} {
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if { $sel_ap_name == "NONE" || $aprest_name == "NONE" } {
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error "$EMSG(invalidarg): You must provide two aperture arguments"
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error "You must provide two aperture arguments"
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} elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } {
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error "$EMSG(invalidarg): $sel_ap_name should be one of $ap_names"
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error "$sel_ap_name should be one of $ap_names"
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} elseif { [lsearch -nocase $ap_names $aprest_name] == -1 } {
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error "$EMSG(invalidarg): $aprest_name should be one of $ap_names"
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error "$aprest_name should be one of $ap_names"
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}
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}
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if {$num == 7} {
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if { $sel_ap_name == "NONE"} {
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error "$EMSG(invalidarg): You must provide one aperture argument"
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error "You must provide one aperture argument"
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} elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } {
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error "$EMSG(invalidarg): $sel_ap_name should be one of $ap_names"
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error "$sel_ap_name should be one of $ap_names"
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}
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}
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if {$num >= 0 && $num <= 8} {
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@ -278,7 +277,7 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
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drive {*}$pcdrvlist
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}
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} else {
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error "$EMSG(invalidarg)"
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error "Invalid arguments"
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}
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# Select Apertures
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if {$num >= 0 && $num < 8} {
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@ -308,47 +307,54 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
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set ap_posname_list {}
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set table_posname_list {}
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set ng 0
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set last_guide 0
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# COUNT number of tables in guide position
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for {set n 1} {$n <= 8} {incr n} {
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set currpos [SplitReply [pc$n]]
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set table_guideunit [SplitReply [pc$n posit2unit $GUIDEPOSIT]]
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set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]]
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set tol [SplitReply [pc$n precision]]
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if {[expr {abs($currpos - $table_guideunit)}] <= $tol} {
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set pctol [SplitReply [pc$n precision]]
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set aptol [SplitReply [ap$n precision]]
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# Tables should be in one of the allowed operating positions.
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if {[expr {abs($currpos - $table_guideunit)}] <= $pctol} {
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incr ng
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} elseif {[expr {abs($currpos - $table_appunit)}] <= $tol} {
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# Table in aperture position
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break
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set last_guide $n
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} elseif {[expr {abs($currpos - $table_appunit)}] <= $aptol} {
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continue
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} else {
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set ng -9999
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set ETYPE $ETYPE_LIST(misaligned)
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set MISCONFIGURED true
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break
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}
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}
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if {$ng < 8} {
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if { !$MISCONFIGURED && ($last_guide != $ng) } {
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# There are gaps in the guide selection
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set ng -9999
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set ETYPE $ETYPE_LIST(gaps)
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set MISCONFIGURED true
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}
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if {$ng >= 0 && $ng < 8} {
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# Check first aperture selected after guides
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set n [ expr $ng + 1]
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set currpos [SplitReply [pc$n]]
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set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]]
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set tol [SplitReply [pc$n precision]]
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if {[expr {abs($currpos - $table_appunit)}] <= $tol} {
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if {[inpos ap$n] == "false"} {
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set MISCONFIGURED true
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}
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} else {
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if {[inpos ap$n] == "false"} {
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set ETYPE $ETYPE_LIST(apfailed)
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set MISCONFIGURED true
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}
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if {$ng < 7} {
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if {$ng >= 0 && $ng < 7} {
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# Check that the rest of the apertures are all the same
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set apn "ap[expr $ng + 2]"
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if [inpos $apn] {
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set pname [SplitReply [posname $apn]]
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for {set n [expr $ng + 3]} {$n <= 8} {incr n} {
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if { $pname != [SplitReply [posname ap$n]] } {
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set ETYPE $ETYPE_LIST(apfailed)
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set MISCONFIGURED true
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break
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}
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}
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} else {
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set ETYPE $ETYPE_LIST(apfailed)
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set MISCONFIGURED true
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}
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}
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@ -359,21 +365,21 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
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lappend ap_posname_list [posname ap$n]
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}
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if {$MISCONFIGURED} {
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return "nguide = MISCONFIGURED: $ng guides $table_posname_list apertures $ap_posname_list"
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return "nguide = $ng guides, MISCONFIGURED $ETYPE: guides $table_posname_list apertures $ap_posname_list"
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}
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if {$CheckDrive} {
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set drive_ok true
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if {$ng != $num} {
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set drive_ok false
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clientput "$EMSG(drivefailed): Failed to select guides"
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clientput "Drive failed: Failed to select guides"
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}
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foreach {ap_mot target} $ap_target_list {
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set pos [SplitReply [$ap_mot]]
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set tol [SplitReply [$ap_mot precision]]
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if {[expr {abs($pos - $target)}] > $tol} {
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set aptol [SplitReply [$ap_mot precision]]
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if {[expr {abs($pos - $target)}] > $aptol} {
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set drive_ok false
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clientput "$EMSG(drivefailed): Apertures off target"
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clientput "Drive failed: Apertures off target"
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break
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}
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}
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@ -383,7 +389,7 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
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clientput "nguide finished with errors"
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}
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}
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return "[lindex [info level 0] 0] = $ng [lrange $ap_posname_list $ng 8]"
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return "[lindex [info level 0] 0] = $ng guides [lrange $table_posname_list 0 $ng-1] apertures [lrange $ap_posname_list $ng 8]"
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} message ]
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handle_exception $catch_status $message
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}
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@ -391,13 +397,13 @@ publish nguide user
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::utility::macro::getset float gs_nguide { {num "REPORTNUM"} {ap "NONE"} {aprest "NONE"}} {
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# Just return number of selected guides from HDB node
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filter_non_numeric [lrange [nguide $num $ap $aprest] 0 2]
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return "[lindex [info level 0] 0] = [lindex [nguide] 2]"
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}
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sicslist setatt gs_nguide klass instrument
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sicslist setatt gs_nguide long_name nguide
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proc L1 {} {
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set ng [lrange [nguide] 2 2]
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set ng [lindex [nguide] 2]
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set lg [SplitReply [lenguide]]
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set sg [SplitReply [spaceguide]]
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set sy [SplitReply [samy]]
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@ -407,7 +413,11 @@ proc L1 {} {
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return "[info level 0]: Non-numeric values: $msg_list"
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}
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set retval [expr {$lg * (8.0 - $ng) + $sg * ($ng - 1) + 612.5 + $sy}]
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if {$ng < 0} {
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set retval -9999
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} else {
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set retval [expr {$lg * (8.0 - $ng) + $sg * ($ng - 1) + 612.5 + $sy}]
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}
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return "[lindex [info level 0] 0] = $retval"
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}
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publish L1 user
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@ -535,7 +545,7 @@ proc Ltof {det} {
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}
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set L1 [SplitReply [L1]]
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set lg [SplitReply [lenguide]]
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set ng [lrange [nguide] 2 2]
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set ng [lindex [nguide] 2]
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set sg [SplitReply [spaceguide]]
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set lch4_pc1 [SplitReply [lch4_pc1]]
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set Lt0 [SplitReply [Lt0]]
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@ -544,7 +554,11 @@ proc Ltof {det} {
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if {[llength $msg_list] > 0} {
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return "[info level 0]: Non-numeric values: $msg_list"
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}
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return [expr {$L2det + $L1 + $lg * $ng + $sg * ($ng -1) + $lch4_pc1 + $Lt0}]
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if {$ng < 0} {
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return -9999
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} else {
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return [expr {$L2det + $L1 + $lg * $ng + $sg * ($ng -1) + $lch4_pc1 + $Lt0}]
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}
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}
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proc Ltof_det {} {
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@ -606,3 +620,32 @@ sicslist setatt gs_Ltof_curtaind long_name Ltof_curtaind
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lenguide 2000
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spaceguide 2
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lch4_pc1 1107
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# Velocity Selector Trans second encoder
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# This is only for diagnostics
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# Axis number 29
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Motor vs_enc2 $motor_driver_type [params\
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asyncqueue mc4\
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axis E\
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units $vs_units\
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hardlowerlim $vs_rev_lim\
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hardupperlim $vs_fwd_lim\
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maxSpeed 0\
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maxAccel 0\
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maxDecel 0\
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stepsPerX 0\
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posit_count 1\
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absEnc 1\
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absEncHome 1625431\
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cntsPerX $vs_cnts_per_x\
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nopowersave 1]
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vs_enc2 softlowerlim $vs_rev_lim
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vs_enc2 softupperlim $vs_fwd_lim
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vs_enc2 home 248.050049
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vs_enc2 part $vs_part
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vs_enc2 long_name vs_enc2
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vs_enc2 speed 0
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vs_enc2 accel 0
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vs_enc2 decel 0
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vs_enc2 fixed 1
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