add the LakeShore 460 Gaussmeter driver
r3018 | dcl | 2010-08-06 15:12:24 +1000 (Fri, 06 Aug 2010) | 1 line
This commit is contained in:
Douglas Clowes
@@ -0,0 +1,475 @@
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# Define procs in ::scobj::xxx namespace
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# MakeSICSObj $obj SCT_<class>
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# The MakeSICSObj cmd adds a /sics/$obj node. NOTE the /sics node is not browsable.
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namespace eval ::scobj::ls460 {
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# Environment controllers should have at least the following nodes
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# /envcont/setpoint
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# /envcont/sensor/value
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proc debug_log {args} {
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set fd [open "/tmp/ls460.log" a]
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puts $fd "[clock format [clock seconds] -format "%T"] $args"
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close $fd
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}
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# issue a command to read a register and expect a value response
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proc getValue {tc_root nextState cmd} {
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debug_log "getValue $cmd sct=[sct] root=$tc_root nextState=$nextState"
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sct send "$cmd"
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return $nextState
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}
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# issue a command with a value in the target property of the variable
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proc setValue {tc_root nextState cmd} {
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debug_log "setValue cmd=$cmd sct=[sct] $tc_root"
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set par "[sct target]"
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sct send "$cmd$par"
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debug_log "setValue $cmd$par"
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return $nextState
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}
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proc chkWrite {tc_root} {
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set data [sct result]
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debug_log "chkWrite resp=$data sct=[sct] tc_root=$tc_root"
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if {[string equal -nocase -length 7 $data "ASCERR:"]} {
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sct geterror "$data"
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} elseif {[string equal -nocase -length 1 $data "?"]} {
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sct geterror "Error: $data"
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} else {
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set data [sct target]
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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debug_log "chkWrite new data for $tc_root [sct] result=$data"
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}
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}
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return idle
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}
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proc setPoint {tc_root nextState cmd} {
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set catch_status [ catch {
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debug_log "setPoint $tc_root $nextState $cmd sct=[sct]"
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debug_log "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
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sct print "setPoint: sct=[sct] target=[sct target] writestatus=[sct writestatus]"
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set err_msg ""
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if { $err_msg != "" } {
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sct print "error:$err_msg"
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debug_log "error:$err_msg"
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return -code error "$err_msg"
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}
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set par "[sct target]"
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if {$par != [sct oldval]} {
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sct oldval $par
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sct update $par
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sct utime readtime
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debug_log "setPoint new data for $tc_root [sct] result=$par"
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}
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hset $tc_root/status "busy"
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sct print "status: busy"
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hset $tc_root/drive_state "START"
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hsetprop $tc_root/setpoint driving 1
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} catch_message ]
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if {$catch_status != 0} {
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return -code error $catch_message
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}
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sct print "setPoint: [hget $tc_root/drive_state]"
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return $nextState
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}
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proc rdValue {tc_root} {
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debug_log "rdValue tc_root=$tc_root sct=[sct]"
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set data [sct result]
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if {[ catch {
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debug_log "rdValue $tc_root [sct] result=$data"
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} catch_message ]} {
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debug_log "rdValue $tc_root failure"
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}
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if {[string equal -nocase -length 7 $data "ASCERR:"]} {
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sct geterror "$data"
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set nextState idle
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} elseif {[string equal -nocase -length 1 $data "?"]} {
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sct geterror "Error: $data"
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set nextState idle
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} else {
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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debug_log "rdValue new data for $tc_root [sct] result=$data"
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}
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}
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return idle
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}
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# This is the command phase of the state machine that drives the controller.
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# For each state, it sends the appropriate command to get values from, or set
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# values in the controller in a sequence intended to transition the controller
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# between states.
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proc getState {tc_root nextState cmd} {
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debug_log "getState $tc_root $nextState $cmd sct=[sct]"
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if {[ catch {
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set my_chan "[string index [SplitReply [hgetprop $tc_root/ls460_state my_chans]] [SplitReply [hgetprop $tc_root/ls460_state my_chan]]]"
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set my_state "[SplitReply [hgetprop $tc_root/ls460_state my_state]]"
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if {$my_state == "STATE_IDN"} {
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set my_cmd "*IDN?"
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} elseif {$my_state == "STATE_CHNL_SET"} {
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set my_cmd "CHNL $my_chan"
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hsetprop $tc_root/ls460_state my_state "STATE_CHNL_GET"
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set nextState read
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} elseif {$my_state == "STATE_CHNL_GET"} {
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set my_cmd "CHNL?"
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} elseif {$my_state == "STATE_FIELD"} {
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set my_cmd "FIELD?"
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} elseif {$my_state == "STATE_MULT"} {
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set my_cmd "FIELDM?"
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} elseif {$my_state == "STATE_UNIT"} {
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set my_cmd "UNIT?"
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} else {
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hsetprop $tc_root/ls460_state my_state "STATE_IDN"
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set my_cmd "*IDN?"
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}
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sct send "$my_cmd"
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debug_log "getState end $tc_root state=$my_state, cmd=$my_cmd"
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} catch_message ]} {
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debug_log "getState error: $catch_message"
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}
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debug_log "getState returns: $nextState"
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return $nextState
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}
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# This is the response phase of the state machine that drives the controller.
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# For each state, it reads the appropriate command response from the controller
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# and, based on the response and internal variables performs a sequence
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# intended to transition the controller between states.
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##
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# @brief Reads the current ls460 state and error messages.
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proc rdState {tc_root} {
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debug_log "rdState $tc_root sct=[sct] response=\"[sct result]\""
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set nextState {}
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if {[ catch {
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set data "[sct result]"
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if {[string equal -nocase -length 7 $data "ASCERR:"]} {
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sct geterror "$data"
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set nextState idle
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} elseif {[string equal -nocase -length 1 $data "?"]} {
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sct geterror "Error: $data"
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set nextState idle
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} else {
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set my_chan "[string index [SplitReply [hgetprop $tc_root/ls460_state my_chans]] [SplitReply [hgetprop $tc_root/ls460_state my_chan]]]"
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set my_state "[SplitReply [hgetprop $tc_root/ls460_state my_state]]"
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debug_log "rdState $tc_root state=$my_state, response=\"[sct result]\""
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if {$my_state == "STATE_IDN"} {
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set my_version "[sct result]"
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hsetprop $tc_root/ls460_state my_version "$my_version"
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hsetprop $tc_root/ls460_state my_state "STATE_CHNL_SET"
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debug_log "rdState $tc_root state=$my_state"
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set nextState read
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} elseif {$my_state == "STATE_CHNL_SET"} {
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hsetprop $tc_root/ls460_state my_state "STATE_CHNL_GET"
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set nextState read
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} elseif {$my_state == "STATE_CHNL_GET"} {
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hsetprop $tc_root/ls460_state my_state "STATE_FIELD"
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hsetprop [sct] chnl [sct result]
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set nextState read
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} elseif {$my_state == "STATE_FIELD"} {
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hsetprop $tc_root/ls460_state my_state "STATE_MULT"
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hsetprop [sct] field [sct result]
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set nextState read
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} elseif {$my_state == "STATE_MULT"} {
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hsetprop $tc_root/ls460_state my_state "STATE_UNIT"
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hsetprop [sct] mult [sct result]
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set nextState read
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} elseif {$my_state == "STATE_UNIT"} {
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hsetprop $tc_root/ls460_state my_state "STATE_CHNL_SET"
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hsetprop [sct] unit [sct result]
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hsetprop $tc_root/Display/$my_chan units [SplitReply [hgetprop [sct] unit]]
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hsetprop $tc_root/Display/$my_chan mult [SplitReply [hgetprop [sct] mult]]
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hsetprop $tc_root/Display/$my_chan field [SplitReply [hgetprop [sct] field]]
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switch -exact [SplitReply [hgetprop [sct] mult]] {
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"u" { set multiplier 0.000001 }
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"m" { set multiplier 0.001 }
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"k" { set multiplier 1000.0 }
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default { set multiplier 1 }
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}
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if { [string is double [SplitReply [hgetprop [sct] field]]] } {
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hset $tc_root/Display/$my_chan [expr $multiplier * [SplitReply [hgetprop [sct] field]]]
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}
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hsetprop $tc_root/ls460_state my_chan [expr [SplitReply [hgetprop $tc_root/ls460_state my_chan]] + 1]
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if { [SplitReply [hgetprop $tc_root/ls460_state my_chan]] > 3 } {
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hsetprop $tc_root/ls460_state my_chan "0"
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}
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set nextState idle
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}
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}
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if { $nextState == "" } {
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set nextState idle
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}
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} catch_message ]} {
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debug_log "rdState error: $catch_message"
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}
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if { "$nextState" == "" } { set nextState "idle" }
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debug_log "rdState returns: $nextState"
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return $nextState
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}
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proc noResponse {} {
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return idle
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}
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proc wrtValue {wcmd args} {
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}
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# check that a target is within allowable limits
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proc check {tc_root} {
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set setpoint [sct target]
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set lolimit [hval $tc_root/lowerlimit]
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set hilimit [hval $tc_root/upperlimit]
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if {$setpoint < $lolimit || $setpoint > $hilimit} {
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error "setpoint violates limits"
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}
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return OK
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}
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# Check that the sensor is reading within tolerance of the setpoint.
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# Return 1 or 0 if it is or is not, respectively.
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proc checktol {tc_root currtime timecheck} {
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debug_log "checktol $tc_root $currtime $timecheck"
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set field [hval $tc_root/sensor/value]
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set lofield [expr {[$tc_root/setpoint] - [hval $tc_root/tolerance]}]
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set hifield [expr {[$tc_root/setpoint] + [hval $tc_root/tolerance]}]
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if { $field < $lofield || $field > $hifield} {
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hset $tc_root/emon/isintol 0
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return 0
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} else {
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set timeout [hval $tc_root/tolerance/settletime]
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if { ($currtime - $timecheck) > $timeout } {
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hset $tc_root/emon/isintol 1
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}
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return 1
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}
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}
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##
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# @brief Implement the checkstatus command for the drivable interface
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#
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# NOTE: The drive adapter initially sets the writestatus to "start" and will
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# only call this when writestatus!="start"
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proc drivestatus {tc_root} {
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if {[sct driving]} {
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return busy
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} else {
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sct print "drivestatus: idle"
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return idle
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}
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}
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proc halt {tc_root} {
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debug_log "halt $tc_root"
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sct print "halt $tc_root"
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set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
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hset $tc_root/drive_state "HALT"
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hsetprop $tc_root/ls460_state my_state "STATE_X"
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if { $my_driving } {
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hsetprop $tc_root/ls460_state my_state "STATE_A0"
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return read
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}
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return idle
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}
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##
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# @brief createNode() creates a node for the given nodename with the properties and virtual
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# function names provided
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# @param scobj_hpath string variable holding the path to the object's base node in sics (/sample/tc1)
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# @param sct_controller name of the scriptcontext object (typically sct_xxx_yyy)
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# @param cmdGroup subdirectory (below /sample/tc*/) in which the node is to be created
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# @param varName name of the actual node typically representing one device command
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# @param readable set to 1 if the node represents a query command, 0 if it is not
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# @param writable set to 1 if the node represents a request for a change in settings sent to the device
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# @param drivable if set to 1 it prepares the node to provide a drivable interface
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# @param dataType data type of the node, must be one of none, int, float, text
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# @param permission defines what user group may read/write to this node (is one of spy, user, manager)
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# @param rdCmd actual device query command to be sent to the device
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# @param rdFunc nextState Function to be called after the getValue function, typically rdValue()
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# @param wrCmd actual device write command to be sent to the device
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# @param wrFunc Function to be called to send the wrCmd to the device, typically setValue()
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# @param allowedValues allowed values for the node data - does not permit other
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# @param klass Nexus class name (?)
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# @return OK
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proc createNode {scobj_hpath sct_controller cmdGroup varName readable writable\
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drivable dataType permission rdCmd rdFunc wrCmd\
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wrFunc allowedValues klass} {
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set catch_status [ catch {
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# set ns ::scobj::ls460
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set ns "[namespace current]"
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set nodeName "$scobj_hpath/$cmdGroup/$varName"
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if {1 > [string length $cmdGroup]} {
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set nodeName "$scobj_hpath/$varName"
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}
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debug_log "Creating node $nodeName"
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hfactory $nodeName plain $permission $dataType
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if {$readable > 0} {
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hsetprop $nodeName read ${ns}::getValue $scobj_hpath $rdFunc $rdCmd
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hsetprop $nodeName $rdFunc ${ns}::$rdFunc $scobj_hpath
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set poll_period 30
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if { $readable >= 0 && $readable <= 9 } {
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set poll_period [lindex [list 0 1 2 3 4 5 10 15 20 30] $readable]
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}
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debug_log "Registering node $nodeName for poll at $poll_period seconds"
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$sct_controller poll $nodeName $poll_period
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}
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if {$writable == 1} {
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set parts [split "$wrFunc" "."]
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if { [llength $parts] == 2 } {
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set func_name [lindex $parts 0]
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set next_state [lindex $parts 1]
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hsetprop $nodeName write ${ns}::$func_name $scobj_hpath $next_state $wrCmd
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hsetprop $nodeName $next_state ${ns}::$next_state $scobj_hpath
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} else {
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hsetprop $nodeName write ${ns}::$wrFunc $scobj_hpath noResponse $wrCmd
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hsetprop $nodeName noResponse ${ns}::noResponse
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}
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hsetprop $nodeName writestatus UNKNOWN
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debug_log "Registering node $nodeName for write callback"
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$sct_controller write $nodeName
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}
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switch -exact $dataType {
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"none" { }
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"int" { hsetprop $nodeName oldval -1 }
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"float" { hsetprop $nodeName oldval -1.0 }
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default { hsetprop $nodeName oldval UNKNOWN }
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}
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if {1 < [string length $allowedValues]} {
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hsetprop $nodeName values $allowedValues
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}
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# Drive adapter interface
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if {$drivable == 1} {
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hsetprop $nodeName check ${ns}::check $scobj_hpath
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hsetprop $nodeName driving 0
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hsetprop $nodeName checklimits ${ns}::check $scobj_hpath
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hsetprop $nodeName checkstatus ${ns}::drivestatus $scobj_hpath
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hsetprop $nodeName halt ${ns}::halt $scobj_hpath
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}
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} message ]
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if {$catch_status != 0} {
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return -code error "in createNode $message"
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}
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return OK
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}
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proc mk_sct_lakeshore_ls460 {sct_controller klass tempobj tol} {
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set catch_status [ catch {
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# set ns ::scobj::ls460
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set ns "[namespace current]"
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MakeSICSObj $tempobj SCT_OBJECT
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sicslist setatt $tempobj klass $klass
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sicslist setatt $tempobj long_name $tempobj
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set scobj_hpath /sics/$tempobj
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set deviceCommand {\
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Display X 0 0 0 float internal {X} {} {} {} {}\
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Display Y 0 0 0 float internal {Y} {} {} {} {}\
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Display Z 0 0 0 float internal {Z} {} {} {} {}\
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Display V 0 0 0 float internal {V} {} {} {} {}\
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}
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hfactory $scobj_hpath/Display plain spy none
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foreach {cmdGroup varName readable writable drivable dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand {
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createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
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}
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hfactory $scobj_hpath/status plain spy text
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hset $scobj_hpath/status "idle"
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hsetprop $scobj_hpath/status values busy,idle
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hfactory $scobj_hpath/ls460_state plain spy text
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hsetprop $scobj_hpath/ls460_state read ${ns}::getState $scobj_hpath rdState "X"
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hsetprop $scobj_hpath/ls460_state rdState ${ns}::rdState $scobj_hpath
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hsetprop $scobj_hpath/ls460_state oldval "UNKNOWN"
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hsetprop $scobj_hpath/ls460_state my_state "STATE_V"
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hsetprop $scobj_hpath/ls460_state my_status "UNKNOWN"
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hsetprop $scobj_hpath/ls460_state my_version "UNKNOWN"
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hsetprop $scobj_hpath/ls460_state my_chan "0"
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hsetprop $scobj_hpath/ls460_state my_chans "XYZV"
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hfactory $scobj_hpath/drive_state plain mugger text
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hset $scobj_hpath/drive_state "UNKNOWN"
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hfactory $scobj_hpath/remote_ctrl plain spy text
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hset $scobj_hpath/remote_ctrl "UNKNOWN"
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hfactory $scobj_hpath/ls460_lasterror plain user text
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hset $scobj_hpath/ls460_lasterror ""
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||||
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
|
||||
Reference in New Issue
Block a user