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Add an OUT position to apertures. Copy bug fixes and improvements from ics1-bilby.

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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
2015-02-03 15:56:39 +11:00
parent ec1d83f77d
commit e8601615e6
1 changed files with 90 additions and 47 deletions
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137
site_ansto/instrument/bilby/config/motors/motor_configuration.tcl
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@ -11,28 +11,28 @@ namespace import ::scobj::shutters::selrs
# Eg, mot fixed 1 # Eg, mot fixed 1
# Define "proc motor_set_sobj_attributes {}" if we need to define extra sicslist attributes for some motors. # Define "proc motor_set_sobj_attributes {}" if we need to define extra sicslist attributes for some motors.
foreach pos {33.662109 48.691406 63.621826 78.695068 100.678711} { foreach pos {1.0 33.662109 48.691406 63.621826 78.695068 100.678711} {
lappend ap1_positions [expr $pos + 0] lappend ap1_positions [expr $pos + 0]
} }
foreach pos {40.924072 55.986328 71.015625 86.088867 108.061523} { foreach pos {2.0 40.924072 55.986328 71.015625 86.088867 108.061523} {
lappend ap2_positions [expr $pos - 1.0] lappend ap2_positions [expr $pos - 1.0]
} }
foreach pos {31.651611 46.724854 61.622314 76.596680 98.712158} { foreach pos {1.0 31.651611 46.724854 61.622314 76.596680 98.712158} {
lappend ap3_positions [expr $pos + 0] lappend ap3_positions [expr $pos + 0]
} }
foreach pos {36.947021 51.943359 66.939697 81.914062 103.930664} { foreach pos {1.0 36.947021 51.943359 66.939697 81.914062 103.930664} {
lappend ap4_positions [expr $pos + 0] lappend ap4_positions [expr $pos + 0]
} }
foreach pos {33.651123 48.691406 63.676758 78.695068 100.678711} { foreach pos {1.0 33.651123 48.691406 63.676758 78.695068 100.678711} {
lappend ap5_positions [expr $pos + 0] lappend ap5_positions [expr $pos + 0]
} }
foreach pos {38.402710 53.481445 68.378906 83.232422 105.424805} { foreach pos {1.0 38.402710 53.481445 68.378906 83.232422 105.424805} {
lappend ap6_positions [expr $pos + 0] lappend ap6_positions [expr $pos + 0]
} }
foreach pos {31.942749 46.966553 61.995850 77.025146 99.074707} { foreach pos {1.0 31.942749 46.966553 61.995850 77.025146 99.074707} {
lappend ap7_positions [expr $pos + 0] lappend ap7_positions [expr $pos + 0]
} }
foreach pos {40.830688 55.821533 70.966187 85.792236 107.880249} { foreach pos {1.0 40.830688 55.821533 70.966187 85.792236 107.880249} {
lappend ap8_positions [expr $pos + 0] lappend ap8_positions [expr $pos + 0]
} }
@ -41,7 +41,7 @@ for {set n 1} {$n <= 8} {incr n} {
pc$n position_names guide apertures pc$n position_names guide apertures
make_coll_motor_1 a$n a$n ap$n count make_coll_motor_1 a$n a$n ap$n count
ap$n positions {*}[set ap${n}_positions] ap$n positions {*}[set ap${n}_positions]
ap$n position_names D10 D20 D40 S40 R100 ap$n position_names OUT D10 D20 D40 S40 R100
} }
# Make a position-motor for the attenuator # Make a position-motor for the attenuator
@ -220,12 +220,10 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
set catch_status [ catch { set catch_status [ catch {
set CheckDrive false set CheckDrive false
set ap_names { D10 D20 D40 S40 R100 } set ap_names { D10 D20 D40 S40 R100 }
array set EMSG { array set ETYPE_LIST {
invalidarg "Invalid arguments" gaps "(gaps between guides)"
gaps "There are gaps in the sequence of selected guides" misaligned "(one or more guides not in the aperture or guide position)"
drivefailed "Drive failed." apfailed "(failed to set apertures)"
misaligned "Misalignment. At least one guide is not in the aperture or guide position"
apfailed "Failed to set apertures"
} }
set GUIDEPOSIT 1 set GUIDEPOSIT 1
set APPOSIT 2 set APPOSIT 2
@ -233,21 +231,22 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
set apdrvlist {} set apdrvlist {}
set pcdrvlist {} set pcdrvlist {}
set ap_target_list {} set ap_target_list {}
set ETYPE ""
if {$num != "REPORTNUM"} { if {$num != "REPORTNUM"} {
if {$num >= 0 && $num < 7} { if {$num >= 0 && $num < 7} {
if { $sel_ap_name == "NONE" || $aprest_name == "NONE" } { if { $sel_ap_name == "NONE" || $aprest_name == "NONE" } {
error "$EMSG(invalidarg): You must provide two aperture arguments" error "You must provide two aperture arguments"
} elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } { } elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } {
error "$EMSG(invalidarg): $sel_ap_name should be one of $ap_names" error "$sel_ap_name should be one of $ap_names"
} elseif { [lsearch -nocase $ap_names $aprest_name] == -1 } { } elseif { [lsearch -nocase $ap_names $aprest_name] == -1 } {
error "$EMSG(invalidarg): $aprest_name should be one of $ap_names" error "$aprest_name should be one of $ap_names"
} }
} }
if {$num == 7} { if {$num == 7} {
if { $sel_ap_name == "NONE"} { if { $sel_ap_name == "NONE"} {
error "$EMSG(invalidarg): You must provide one aperture argument" error "You must provide one aperture argument"
} elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } { } elseif { [lsearch -nocase $ap_names $sel_ap_name] == -1 } {
error "$EMSG(invalidarg): $sel_ap_name should be one of $ap_names" error "$sel_ap_name should be one of $ap_names"
} }
} }
if {$num >= 0 && $num <= 8} { if {$num >= 0 && $num <= 8} {
@ -278,7 +277,7 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
drive {*}$pcdrvlist drive {*}$pcdrvlist
} }
} else { } else {
error "$EMSG(invalidarg)" error "Invalid arguments"
} }
# Select Apertures # Select Apertures
if {$num >= 0 && $num < 8} { if {$num >= 0 && $num < 8} {
@ -308,47 +307,54 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
set ap_posname_list {} set ap_posname_list {}
set table_posname_list {} set table_posname_list {}
set ng 0 set ng 0
set last_guide 0
# COUNT number of tables in guide position # COUNT number of tables in guide position
for {set n 1} {$n <= 8} {incr n} { for {set n 1} {$n <= 8} {incr n} {
set currpos [SplitReply [pc$n]] set currpos [SplitReply [pc$n]]
set table_guideunit [SplitReply [pc$n posit2unit $GUIDEPOSIT]] set table_guideunit [SplitReply [pc$n posit2unit $GUIDEPOSIT]]
set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]] set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]]
set tol [SplitReply [pc$n precision]] set pctol [SplitReply [pc$n precision]]
if {[expr {abs($currpos - $table_guideunit)}] <= $tol} { set aptol [SplitReply [ap$n precision]]
# Tables should be in one of the allowed operating positions.
if {[expr {abs($currpos - $table_guideunit)}] <= $pctol} {
incr ng incr ng
} elseif {[expr {abs($currpos - $table_appunit)}] <= $tol} { set last_guide $n
# Table in aperture position } elseif {[expr {abs($currpos - $table_appunit)}] <= $aptol} {
break continue
} else { } else {
set ng -9999
set ETYPE $ETYPE_LIST(misaligned)
set MISCONFIGURED true set MISCONFIGURED true
break break
} }
} }
if {$ng < 8} { if { !$MISCONFIGURED && ($last_guide != $ng) } {
# There are gaps in the guide selection
set ng -9999
set ETYPE $ETYPE_LIST(gaps)
set MISCONFIGURED true
}
if {$ng >= 0 && $ng < 8} {
# Check first aperture selected after guides # Check first aperture selected after guides
set n [ expr $ng + 1] set n [ expr $ng + 1]
set currpos [SplitReply [pc$n]] if {[inpos ap$n] == "false"} {
set table_appunit [SplitReply [pc$n posit2unit $APPOSIT]] set ETYPE $ETYPE_LIST(apfailed)
set tol [SplitReply [pc$n precision]]
if {[expr {abs($currpos - $table_appunit)}] <= $tol} {
if {[inpos ap$n] == "false"} {
set MISCONFIGURED true
}
} else {
set MISCONFIGURED true set MISCONFIGURED true
} }
if {$ng < 7} { if {$ng >= 0 && $ng < 7} {
# Check that the rest of the apertures are all the same # Check that the rest of the apertures are all the same
set apn "ap[expr $ng + 2]" set apn "ap[expr $ng + 2]"
if [inpos $apn] { if [inpos $apn] {
set pname [SplitReply [posname $apn]] set pname [SplitReply [posname $apn]]
for {set n [expr $ng + 3]} {$n <= 8} {incr n} { for {set n [expr $ng + 3]} {$n <= 8} {incr n} {
if { $pname != [SplitReply [posname ap$n]] } { if { $pname != [SplitReply [posname ap$n]] } {
set ETYPE $ETYPE_LIST(apfailed)
set MISCONFIGURED true set MISCONFIGURED true
break break
} }
} }
} else { } else {
set ETYPE $ETYPE_LIST(apfailed)
set MISCONFIGURED true set MISCONFIGURED true
} }
} }
@ -359,21 +365,21 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
lappend ap_posname_list [posname ap$n] lappend ap_posname_list [posname ap$n]
} }
if {$MISCONFIGURED} { if {$MISCONFIGURED} {
return "nguide = MISCONFIGURED: $ng guides $table_posname_list apertures $ap_posname_list" return "nguide = $ng guides, MISCONFIGURED $ETYPE: guides $table_posname_list apertures $ap_posname_list"
} }
if {$CheckDrive} { if {$CheckDrive} {
set drive_ok true set drive_ok true
if {$ng != $num} { if {$ng != $num} {
set drive_ok false set drive_ok false
clientput "$EMSG(drivefailed): Failed to select guides" clientput "Drive failed: Failed to select guides"
} }
foreach {ap_mot target} $ap_target_list { foreach {ap_mot target} $ap_target_list {
set pos [SplitReply [$ap_mot]] set pos [SplitReply [$ap_mot]]
set tol [SplitReply [$ap_mot precision]] set aptol [SplitReply [$ap_mot precision]]
if {[expr {abs($pos - $target)}] > $tol} { if {[expr {abs($pos - $target)}] > $aptol} {
set drive_ok false set drive_ok false
clientput "$EMSG(drivefailed): Apertures off target" clientput "Drive failed: Apertures off target"
break break
} }
} }
@ -383,7 +389,7 @@ proc nguide { {num "REPORTNUM"} {sel_ap_name "NONE"} {aprest_name "NONE"}} {
clientput "nguide finished with errors" clientput "nguide finished with errors"
} }
} }
return "[lindex [info level 0] 0] = $ng [lrange $ap_posname_list $ng 8]" return "[lindex [info level 0] 0] = $ng guides [lrange $table_posname_list 0 $ng-1] apertures [lrange $ap_posname_list $ng 8]"
} message ] } message ]
handle_exception $catch_status $message handle_exception $catch_status $message
} }
@ -391,13 +397,13 @@ publish nguide user
::utility::macro::getset float gs_nguide { {num "REPORTNUM"} {ap "NONE"} {aprest "NONE"}} { ::utility::macro::getset float gs_nguide { {num "REPORTNUM"} {ap "NONE"} {aprest "NONE"}} {
# Just return number of selected guides from HDB node # Just return number of selected guides from HDB node
filter_non_numeric [lrange [nguide $num $ap $aprest] 0 2] return "[lindex [info level 0] 0] = [lindex [nguide] 2]"
} }
sicslist setatt gs_nguide klass instrument sicslist setatt gs_nguide klass instrument
sicslist setatt gs_nguide long_name nguide sicslist setatt gs_nguide long_name nguide
proc L1 {} { proc L1 {} {
set ng [lrange [nguide] 2 2] set ng [lindex [nguide] 2]
set lg [SplitReply [lenguide]] set lg [SplitReply [lenguide]]
set sg [SplitReply [spaceguide]] set sg [SplitReply [spaceguide]]
set sy [SplitReply [samy]] set sy [SplitReply [samy]]
@ -407,7 +413,11 @@ proc L1 {} {
return "[info level 0]: Non-numeric values: $msg_list" return "[info level 0]: Non-numeric values: $msg_list"
} }
set retval [expr {$lg * (8.0 - $ng) + $sg * ($ng - 1) + 612.5 + $sy}] if {$ng < 0} {
set retval -9999
} else {
set retval [expr {$lg * (8.0 - $ng) + $sg * ($ng - 1) + 612.5 + $sy}]
}
return "[lindex [info level 0] 0] = $retval" return "[lindex [info level 0] 0] = $retval"
} }
publish L1 user publish L1 user
@ -535,7 +545,7 @@ proc Ltof {det} {
} }
set L1 [SplitReply [L1]] set L1 [SplitReply [L1]]
set lg [SplitReply [lenguide]] set lg [SplitReply [lenguide]]
set ng [lrange [nguide] 2 2] set ng [lindex [nguide] 2]
set sg [SplitReply [spaceguide]] set sg [SplitReply [spaceguide]]
set lch4_pc1 [SplitReply [lch4_pc1]] set lch4_pc1 [SplitReply [lch4_pc1]]
set Lt0 [SplitReply [Lt0]] set Lt0 [SplitReply [Lt0]]
@ -544,7 +554,11 @@ proc Ltof {det} {
if {[llength $msg_list] > 0} { if {[llength $msg_list] > 0} {
return "[info level 0]: Non-numeric values: $msg_list" return "[info level 0]: Non-numeric values: $msg_list"
} }
return [expr {$L2det + $L1 + $lg * $ng + $sg * ($ng -1) + $lch4_pc1 + $Lt0}] if {$ng < 0} {
return -9999
} else {
return [expr {$L2det + $L1 + $lg * $ng + $sg * ($ng -1) + $lch4_pc1 + $Lt0}]
}
} }
proc Ltof_det {} { proc Ltof_det {} {
@ -606,3 +620,32 @@ sicslist setatt gs_Ltof_curtaind long_name Ltof_curtaind
lenguide 2000 lenguide 2000
spaceguide 2 spaceguide 2
lch4_pc1 1107 lch4_pc1 1107
# Velocity Selector Trans second encoder
# This is only for diagnostics
# Axis number 29
Motor vs_enc2 $motor_driver_type [params\
asyncqueue mc4\
axis E\
units $vs_units\
hardlowerlim $vs_rev_lim\
hardupperlim $vs_fwd_lim\
maxSpeed 0\
maxAccel 0\
maxDecel 0\
stepsPerX 0\
posit_count 1\
absEnc 1\
absEncHome 1625431\
cntsPerX $vs_cnts_per_x\
nopowersave 1]
vs_enc2 softlowerlim $vs_rev_lim
vs_enc2 softupperlim $vs_fwd_lim
vs_enc2 home 248.050049
vs_enc2 part $vs_part
vs_enc2 long_name vs_enc2
vs_enc2 speed 0
vs_enc2 accel 0
vs_enc2 decel 0
vs_enc2 fixed 1