diff --git a/site_ansto/instrument/config/environment/magneticField/sct_lakeshore_460.tcl b/site_ansto/instrument/config/environment/magneticField/sct_lakeshore_460.tcl new file mode 100644 index 00000000..33b9a1d1 --- /dev/null +++ b/site_ansto/instrument/config/environment/magneticField/sct_lakeshore_460.tcl @@ -0,0 +1,475 @@ +# Define procs in ::scobj::xxx namespace +# MakeSICSObj $obj SCT_ +# The MakeSICSObj cmd adds a /sics/$obj node. NOTE the /sics node is not browsable. + + +namespace eval ::scobj::ls460 { +# Environment controllers should have at least the following nodes +# /envcont/setpoint +# /envcont/sensor/value + proc debug_log {args} { + set fd [open "/tmp/ls460.log" a] + puts $fd "[clock format [clock seconds] -format "%T"] $args" + close $fd + } + +# issue a command to read a register and expect a value response + proc getValue {tc_root nextState cmd} { +debug_log "getValue $cmd sct=[sct] root=$tc_root nextState=$nextState" + sct send "$cmd" + return $nextState + } + +# issue a command with a value in the target property of the variable + proc setValue {tc_root nextState cmd} { +debug_log "setValue cmd=$cmd sct=[sct] $tc_root" + set par "[sct target]" + sct send "$cmd$par" +debug_log "setValue $cmd$par" + return $nextState + } + + proc chkWrite {tc_root} { + set data [sct result] +debug_log "chkWrite resp=$data sct=[sct] tc_root=$tc_root" + if {[string equal -nocase -length 7 $data "ASCERR:"]} { + sct geterror "$data" + } elseif {[string equal -nocase -length 1 $data "?"]} { + sct geterror "Error: $data" + } else { + set data [sct target] + if {$data != [sct oldval]} { + sct oldval $data + sct update $data + sct utime readtime +debug_log "chkWrite new data for $tc_root [sct] result=$data" + } + } + return idle + } + + proc setPoint {tc_root nextState cmd} { + set catch_status [ catch { +debug_log "setPoint $tc_root $nextState $cmd sct=[sct]" +debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]" + sct print "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]" + set err_msg "" + + if { $err_msg != "" } { + sct print "error:$err_msg" + debug_log "error:$err_msg" + return -code error "$err_msg" + } + + set par "[sct target]" + if {$par != [sct oldval]} { + sct oldval $par + sct update $par + sct utime readtime +debug_log "setPoint new data for $tc_root [sct] result=$par" + } + hset $tc_root/status "busy" + sct print "status: busy" + hset $tc_root/drive_state "START" + hsetprop $tc_root/setpoint driving 1 + } catch_message ] + if {$catch_status != 0} { + return -code error $catch_message + } + sct print "setPoint: [hget $tc_root/drive_state]" + return $nextState + } + + proc rdValue {tc_root} { +debug_log "rdValue tc_root=$tc_root sct=[sct]" + set data [sct result] + if {[ catch { +debug_log "rdValue $tc_root [sct] result=$data" + } catch_message ]} { +debug_log "rdValue $tc_root failure" + } + if {[string equal -nocase -length 7 $data "ASCERR:"]} { + sct geterror "$data" + set nextState idle + } elseif {[string equal -nocase -length 1 $data "?"]} { + sct geterror "Error: $data" + set nextState idle + } else { + if { [hpropexists [sct] geterror] } { + hdelprop [sct] geterror + } + if {$data != [sct oldval]} { + sct oldval $data + sct update $data + sct utime readtime +debug_log "rdValue new data for $tc_root [sct] result=$data" + } + } + return idle + } + +# This is the command phase of the state machine that drives the controller. +# For each state, it sends the appropriate command to get values from, or set +# values in the controller in a sequence intended to transition the controller +# between states. + proc getState {tc_root nextState cmd} { +debug_log "getState $tc_root $nextState $cmd sct=[sct]" + if {[ catch { + set my_chan "[string index [SplitReply [hgetprop $tc_root/ls460_state my_chans]] [SplitReply [hgetprop $tc_root/ls460_state my_chan]]]" + set my_state "[SplitReply [hgetprop $tc_root/ls460_state my_state]]" + if {$my_state == "STATE_IDN"} { + set my_cmd "*IDN?" + } elseif {$my_state == "STATE_CHNL_SET"} { + set my_cmd "CHNL $my_chan" + hsetprop $tc_root/ls460_state my_state "STATE_CHNL_GET" + set nextState read + } elseif {$my_state == "STATE_CHNL_GET"} { + set my_cmd "CHNL?" + } elseif {$my_state == "STATE_FIELD"} { + set my_cmd "FIELD?" + } elseif {$my_state == "STATE_MULT"} { + set my_cmd "FIELDM?" + } elseif {$my_state == "STATE_UNIT"} { + set my_cmd "UNIT?" + } else { + hsetprop $tc_root/ls460_state my_state "STATE_IDN" + set my_cmd "*IDN?" + } + sct send "$my_cmd" +debug_log "getState end $tc_root state=$my_state, cmd=$my_cmd" + } catch_message ]} { +debug_log "getState error: $catch_message" + } +debug_log "getState returns: $nextState" + return $nextState + } + +# This is the response phase of the state machine that drives the controller. +# For each state, it reads the appropriate command response from the controller +# and, based on the response and internal variables performs a sequence +# intended to transition the controller between states. + + ## + # @brief Reads the current ls460 state and error messages. + proc rdState {tc_root} { + debug_log "rdState $tc_root sct=[sct] response=\"[sct result]\"" + set nextState {} + if {[ catch { + set data "[sct result]" + if {[string equal -nocase -length 7 $data "ASCERR:"]} { + sct geterror "$data" + set nextState idle + } elseif {[string equal -nocase -length 1 $data "?"]} { + sct geterror "Error: $data" + set nextState idle + } else { + set my_chan "[string index [SplitReply [hgetprop $tc_root/ls460_state my_chans]] [SplitReply [hgetprop $tc_root/ls460_state my_chan]]]" + set my_state "[SplitReply [hgetprop $tc_root/ls460_state my_state]]" +debug_log "rdState $tc_root state=$my_state, response=\"[sct result]\"" + if {$my_state == "STATE_IDN"} { + set my_version "[sct result]" + hsetprop $tc_root/ls460_state my_version "$my_version" + hsetprop $tc_root/ls460_state my_state "STATE_CHNL_SET" +debug_log "rdState $tc_root state=$my_state" + set nextState read + } elseif {$my_state == "STATE_CHNL_SET"} { + hsetprop $tc_root/ls460_state my_state "STATE_CHNL_GET" + set nextState read + } elseif {$my_state == "STATE_CHNL_GET"} { + hsetprop $tc_root/ls460_state my_state "STATE_FIELD" + hsetprop [sct] chnl [sct result] + set nextState read + } elseif {$my_state == "STATE_FIELD"} { + hsetprop $tc_root/ls460_state my_state "STATE_MULT" + hsetprop [sct] field [sct result] + set nextState read + } elseif {$my_state == "STATE_MULT"} { + hsetprop $tc_root/ls460_state my_state "STATE_UNIT" + hsetprop [sct] mult [sct result] + set nextState read + } elseif {$my_state == "STATE_UNIT"} { + hsetprop $tc_root/ls460_state my_state "STATE_CHNL_SET" + hsetprop [sct] unit [sct result] + hsetprop $tc_root/Display/$my_chan units [SplitReply [hgetprop [sct] unit]] + hsetprop $tc_root/Display/$my_chan mult [SplitReply [hgetprop [sct] mult]] + hsetprop $tc_root/Display/$my_chan field [SplitReply [hgetprop [sct] field]] + switch -exact [SplitReply [hgetprop [sct] mult]] { + "u" { set multiplier 0.000001 } + "m" { set multiplier 0.001 } + "k" { set multiplier 1000.0 } + default { set multiplier 1 } + } + if { [string is double [SplitReply [hgetprop [sct] field]]] } { + hset $tc_root/Display/$my_chan [expr $multiplier * [SplitReply [hgetprop [sct] field]]] + } + hsetprop $tc_root/ls460_state my_chan [expr [SplitReply [hgetprop $tc_root/ls460_state my_chan]] + 1] + if { [SplitReply [hgetprop $tc_root/ls460_state my_chan]] > 3 } { + hsetprop $tc_root/ls460_state my_chan "0" + } + set nextState idle + } + } + if { $nextState == "" } { + set nextState idle + } + } catch_message ]} { + debug_log "rdState error: $catch_message" + } + if { "$nextState" == "" } { set nextState "idle" } + debug_log "rdState returns: $nextState" + return $nextState + } + + proc noResponse {} { + return idle + } + proc wrtValue {wcmd args} { + } + +# check that a target is within allowable limits + proc check {tc_root} { + set setpoint [sct target] + set lolimit [hval $tc_root/lowerlimit] + set hilimit [hval $tc_root/upperlimit] + if {$setpoint < $lolimit || $setpoint > $hilimit} { + error "setpoint violates limits" + } + return OK + } + +# Check that the sensor is reading within tolerance of the setpoint. +# Return 1 or 0 if it is or is not, respectively. + proc checktol {tc_root currtime timecheck} { +debug_log "checktol $tc_root $currtime $timecheck" + set field [hval $tc_root/sensor/value] + set lofield [expr {[$tc_root/setpoint] - [hval $tc_root/tolerance]}] + set hifield [expr {[$tc_root/setpoint] + [hval $tc_root/tolerance]}] + if { $field < $lofield || $field > $hifield} { + hset $tc_root/emon/isintol 0 + return 0 + } else { + set timeout [hval $tc_root/tolerance/settletime] + if { ($currtime - $timecheck) > $timeout } { + hset $tc_root/emon/isintol 1 + } + return 1 + } + } + +## +# @brief Implement the checkstatus command for the drivable interface +# +# 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]} { + return busy + } else { + sct print "drivestatus: idle" + return idle + } + } + + proc halt {tc_root} { +debug_log "halt $tc_root" +sct print "halt $tc_root" + set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]] + hset $tc_root/drive_state "HALT" + hsetprop $tc_root/ls460_state my_state "STATE_X" + if { $my_driving } { + hsetprop $tc_root/ls460_state my_state "STATE_A0" + return read + } + return idle + } + +## +# @brief createNode() creates a node for the given nodename with the properties and virtual +# function names provided +# @param scobj_hpath string variable holding the path to the object's base node in sics (/sample/tc1) +# @param sct_controller name of the scriptcontext object (typically sct_xxx_yyy) +# @param cmdGroup subdirectory (below /sample/tc*/) in which the node is to be created +# @param varName name of the actual node typically representing one device command +# @param readable set to 1 if the node represents a query command, 0 if it is not +# @param writable set to 1 if the node represents a request for a change in settings sent to the device +# @param drivable if set to 1 it prepares the node to provide a drivable interface +# @param dataType data type of the node, must be one of none, int, float, text +# @param permission defines what user group may read/write to this node (is one of spy, user, manager) +# @param rdCmd actual device query command to be sent to the device +# @param rdFunc nextState Function to be called after the getValue function, typically rdValue() +# @param wrCmd actual device write command to be sent to the device +# @param wrFunc Function to be called to send the wrCmd to the device, typically setValue() +# @param allowedValues allowed values for the node data - does not permit other +# @param klass Nexus class name (?) +# @return OK +proc createNode {scobj_hpath sct_controller cmdGroup varName readable writable\ + drivable dataType permission rdCmd rdFunc wrCmd\ + wrFunc allowedValues klass} { + + set catch_status [ catch { +# set ns ::scobj::ls460 + set ns "[namespace current]" + set nodeName "$scobj_hpath/$cmdGroup/$varName" + if {1 > [string length $cmdGroup]} { + set nodeName "$scobj_hpath/$varName" + } +debug_log "Creating node $nodeName" + hfactory $nodeName plain $permission $dataType + if {$readable > 0} { + hsetprop $nodeName read ${ns}::getValue $scobj_hpath $rdFunc $rdCmd + hsetprop $nodeName $rdFunc ${ns}::$rdFunc $scobj_hpath + set poll_period 30 + if { $readable >= 0 && $readable <= 9 } { + set poll_period [lindex [list 0 1 2 3 4 5 10 15 20 30] $readable] + } +debug_log "Registering node $nodeName for poll at $poll_period seconds" + $sct_controller poll $nodeName $poll_period + } + if {$writable == 1} { + set parts [split "$wrFunc" "."] + if { [llength $parts] == 2 } { + set func_name [lindex $parts 0] + set next_state [lindex $parts 1] + hsetprop $nodeName write ${ns}::$func_name $scobj_hpath $next_state $wrCmd + hsetprop $nodeName $next_state ${ns}::$next_state $scobj_hpath + } else { + hsetprop $nodeName write ${ns}::$wrFunc $scobj_hpath noResponse $wrCmd + hsetprop $nodeName noResponse ${ns}::noResponse + } + hsetprop $nodeName writestatus UNKNOWN +debug_log "Registering node $nodeName for write callback" + $sct_controller write $nodeName + } + switch -exact $dataType { + "none" { } + "int" { hsetprop $nodeName oldval -1 } + "float" { hsetprop $nodeName oldval -1.0 } + default { hsetprop $nodeName oldval UNKNOWN } + } + if {1 < [string length $allowedValues]} { + hsetprop $nodeName values $allowedValues + } + # Drive adapter interface + if {$drivable == 1} { + hsetprop $nodeName check ${ns}::check $scobj_hpath + hsetprop $nodeName driving 0 + hsetprop $nodeName checklimits ${ns}::check $scobj_hpath + hsetprop $nodeName checkstatus ${ns}::drivestatus $scobj_hpath + hsetprop $nodeName halt ${ns}::halt $scobj_hpath + } + } message ] + if {$catch_status != 0} { + return -code error "in createNode $message" + } + return OK +} + + proc mk_sct_lakeshore_ls460 {sct_controller klass tempobj tol} { + set catch_status [ catch { +# set ns ::scobj::ls460 + set ns "[namespace current]" + + MakeSICSObj $tempobj SCT_OBJECT + sicslist setatt $tempobj klass $klass + sicslist setatt $tempobj long_name $tempobj + + set scobj_hpath /sics/$tempobj + + set deviceCommand {\ + Display X 0 0 0 float internal {X} {} {} {} {}\ + Display Y 0 0 0 float internal {Y} {} {} {} {}\ + Display Z 0 0 0 float internal {Z} {} {} {} {}\ + Display V 0 0 0 float internal {V} {} {} {} {}\ + } + + hfactory $scobj_hpath/Display plain spy none + + foreach {cmdGroup varName readable writable drivable dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand { + createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass + } + + hfactory $scobj_hpath/status plain spy text + hset $scobj_hpath/status "idle" + hsetprop $scobj_hpath/status values busy,idle + + hfactory $scobj_hpath/ls460_state plain spy text + hsetprop $scobj_hpath/ls460_state read ${ns}::getState $scobj_hpath rdState "X" + hsetprop $scobj_hpath/ls460_state rdState ${ns}::rdState $scobj_hpath + hsetprop $scobj_hpath/ls460_state oldval "UNKNOWN" + hsetprop $scobj_hpath/ls460_state my_state "STATE_V" + hsetprop $scobj_hpath/ls460_state my_status "UNKNOWN" + hsetprop $scobj_hpath/ls460_state my_version "UNKNOWN" + hsetprop $scobj_hpath/ls460_state my_chan "0" + hsetprop $scobj_hpath/ls460_state my_chans "XYZV" + + hfactory $scobj_hpath/drive_state plain mugger text + hset $scobj_hpath/drive_state "UNKNOWN" + + hfactory $scobj_hpath/remote_ctrl plain spy text + hset $scobj_hpath/remote_ctrl "UNKNOWN" + + hfactory $scobj_hpath/ls460_lasterror plain user text + hset $scobj_hpath/ls460_lasterror "" + + if {[SplitReply [environment_simulation]]=="false"} { + $sct_controller poll $scobj_hpath/ls460_state 1 halt read + } + + hsetprop $scobj_hpath type part + foreach snsr {Display} { + foreach {rootpath hpath klass priv} "\ + $scobj_hpath $snsr NXsensor spy\ + $scobj_hpath $snsr/X sensor user\ + $scobj_hpath $snsr/Y sensor user\ + $scobj_hpath $snsr/Z sensor user\ + $scobj_hpath $snsr/V sensor user\ + " { + hsetprop $rootpath/$hpath klass $klass + hsetprop $rootpath/$hpath privilege $priv + hsetprop $rootpath/$hpath control true + hsetprop $rootpath/$hpath data true + hsetprop $rootpath/$hpath nxsave true + } + hsetprop $scobj_hpath/$snsr type part + hsetprop $scobj_hpath/$snsr/value nxalias gm1_${snsr}_value + hsetprop $scobj_hpath/$snsr/value mutable true + hsetprop $scobj_hpath/$snsr/value sdsinfo ::nexus::scobj::sdsinfo + } + hsetprop $scobj_hpath privilege spy + ::scobj::hinitprops $tempobj setpoint + } catch_message ] + if {$catch_status != 0} { + return -code error $catch_message + } + } + namespace export mk_sct_lakeshore_ls460 +} + +## +# @brief Create a Lakeshore ls460 Gaussmeter +# +# @param name, the name of the gaussmeter (eg gm1) +# @param IP, the IP address of the device, this can be a hostname, (eg ca1-kowari) +# @param port, the IP protocol port number of the device +# @param _tol (optional), this is the initial tolerance setting +proc add_ls460 {name IP port terminator {_tol 5.0}} { + set fd [open "/tmp/ls460.log" a] + if {[SplitReply [environment_simulation]]=="false"} { + puts $fd "makesctcontroller sct_ls460 std ${IP}:$port" + makesctcontroller sct_ls460 std ${IP}:$port $terminator + } + puts $fd "mk_sct_lakeshore_ls460 sct_ls460 environment $name $_tol" + mk_sct_lakeshore_ls460 sct_ls460 environment $name $_tol + puts $fd "makesctemon $name /sics/$name/emon/monmode /sics/$name/emon/isintol /sics/$name/emon/errhandler" + makesctemon $name /sics/$name/emon/monmode /sics/$name/emon/isintol /sics/$name/emon/errhandler + close $fd +} + +puts stdout "file evaluation of sct_lakeshore_ls460.tcl" +set fd [open "/tmp/ls460.log" w] +puts $fd "file evaluation of sct_lakeshore_ls460.tcl" +close $fd + +namespace import ::scobj::ls460::* + +add_ls460 ls460 localhost 30509 "\r\n" 1