From ed7c371080ac448acf2c3e0e2a086441f3bced62 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Tue, 17 Jun 2014 14:02:05 +1000
Subject: [PATCH] Add the huber bath Pilot ONE driver

---
 .../config/environment/huber_pilot.sct        |  61 +++
 .../config/environment/sct_huber_pilot.tcl    | 393 ++++++++++++++++++
 .../instrument/sans/quokka_configuration.tcl  |   1 +
 3 files changed, 455 insertions(+)
 create mode 100644 site_ansto/instrument/config/environment/huber_pilot.sct
 create mode 100644 site_ansto/instrument/config/environment/sct_huber_pilot.tcl

diff --git a/site_ansto/instrument/config/environment/huber_pilot.sct b/site_ansto/instrument/config/environment/huber_pilot.sct
new file mode 100644
index 00000000..5debf8e8
--- /dev/null
+++ b/site_ansto/instrument/config/environment/huber_pilot.sct
@@ -0,0 +1,61 @@
+# Simple driver generator for the Huber Pilot ONE Temperature Controller
+# vim: ts=8 sts=2 sw=2 expandtab autoindent smartindent
+#
+driver huber_pilot = {
+  debug_threshold = 1;
+  vendor = Huber; device = 'Pilot ONE'; protocol = std;
+  class = environment;
+  simulation_group = environment_simulation;
+
+  group Loop1 = {
+    priv = user;
+    readable = 1;
+    var sensor = {
+      type = float;
+      read_command = '01';
+      permlink = 'T.S01';
+    }
+    var setpoint = {
+      type = float;
+      read_command = '00';
+      writeable = 1;
+      write_command = '00';
+      driveable = Loop1/sensor
+      lowerlimit = -25.0; upperlimit = 30.0;
+      tolerance = 0.5; property settle_time = 10;
+      permlink = 'T.SP01';
+    }
+  }
+
+  code getValue = {%%
+    set cmd "\{M${cmd_str}****"
+  %%}
+
+  code rdValue = {%%
+    if {[string length ${data}] < 8} {
+      sct geterror "rdValue short response ${data}"
+    } elseif { ![string equal -nocase [string range ${data} 1 2] "S0"] } {
+      sct geterror "rdValue syntax error ${data}"
+    } else {
+      set resp [scan [string range ${data} 4 end] "%x" val]
+      if { ${resp} < 1 } { 
+        sct geterror "rdValue scan error ${data}"
+      } else {
+        if { ${val} >= 0x8000 } {
+          set val [expr ${val} - 0x10000]
+        }
+        set data [expr 0.01 * ${val}]
+        if { ${data} <= -151.00 } {
+          sct geterror "rdValue value error ${data}"
+        }
+      }
+    }
+  %%}
+    
+  code setValue = {%%
+    set param [expr { round(100.0 * [sct target]) }]
+    set param [string range [format "%04X" ${param}] end-3 end]
+    set cmd "\{M${cmd_str}${param}"
+  %%}
+
+}
diff --git a/site_ansto/instrument/config/environment/sct_huber_pilot.tcl b/site_ansto/instrument/config/environment/sct_huber_pilot.tcl
new file mode 100644
index 00000000..925f5ff4
--- /dev/null
+++ b/site_ansto/instrument/config/environment/sct_huber_pilot.tcl
@@ -0,0 +1,393 @@
+# Generated driver for huber_pilot
+# vim: ft=tcl tabstop=8  softtabstop=2  shiftwidth=2  nocindent  smartindent
+#
+
+namespace eval ::scobj::huber_pilot {
+  set debug_threshold 1
+  if { ![info exists ::scobj::permlink_device_counter]} {
+    set ::scobj::permlink_device_counter 0
+  }
+}
+
+proc ::scobj::huber_pilot::debug_log {tc_root debug_level debug_string} {
+  set catch_status [ catch {
+    set debug_threshold [hgetpropval ${tc_root} debug_threshold]
+    if {${debug_level} >= ${debug_threshold}} {
+      set fd [open "../log/huber_pilot_[basename ${tc_root}].log" "a"]
+      set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
+      puts ${fd} "${line}"
+      close ${fd}
+    }
+  } catch_message ]
+}
+
+proc ::scobj::huber_pilot::sics_log {debug_level debug_string} {
+  set catch_status [ catch {
+    set debug_threshold ${::scobj::huber_pilot::debug_threshold}
+    if {${debug_level} >= ${debug_threshold}} {
+      sicslog "::scobj::huber_pilot::${debug_string}"
+    }
+  } catch_message ]
+}
+
+# checklimits function for driveable interface
+proc ::scobj::huber_pilot::checklimits {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "checklimits tc_root=${tc_root} sct=[sct] target=[sct target]"
+    set setpoint [sct target]
+    if { [hpropexists [sct] lowerlimit] } {
+      set lolimit [sct lowerlimit]
+    } else {
+      # lowerlimit not set, use target
+      set lolimit [sct target]
+    }
+    if { [hpropexists [sct] upperlimit] } {
+      set hilimit [sct upperlimit]
+    } else {
+      # upperlimit not set, use target
+      set hilimit [sct target]
+    }
+# checklimits hook code goes here
+    if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
+      sct driving 0
+      error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
+    }
+    return OK
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# check function for hset change
+proc ::scobj::huber_pilot::checkrange {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
+    set setpoint [sct target]
+    if { [hpropexists [sct] lowerlimit] } {
+      set lolimit [sct lowerlimit]
+    } else {
+      # lowerlimit not set, use target
+      set lolimit [sct target]
+    }
+    if { [hpropexists [sct] upperlimit] } {
+      set hilimit [sct upperlimit]
+    } else {
+      # upperlimit not set, use target
+      set hilimit [sct target]
+    }
+# checkrange hook code goes here
+    if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
+      error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
+    }
+    return OK
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# checkstatus function for driveable interface
+proc ::scobj::huber_pilot::checkstatus {tc_root} {
+  set catch_status [ catch {
+# checkstatus hook code goes here
+    if {[sct driving]} {
+      set sp "[sct target]"
+      set pv "[hval ${tc_root}/[sct driveable]]"
+      if { abs(${pv} - ${sp}) <= [sct tolerance] } {
+        if { [hpropexists [sct] settle_time] } {
+          if { [hpropexists [sct] settle_time_start] } {
+            if { [sct utime] - [sct settle_time_start] >= [sct settle_time]} {
+              sct driving 0
+              return "idle"
+            }
+            return "busy"
+          } else {
+            sct utime settle_time_start
+            return "busy"
+          }
+        }
+        sct driving 0
+        return "idle"
+      }
+      if { [hpropexists [sct] settle_time_start] } {
+        hdelprop [sct] settle_time_start
+      }
+      return "busy"
+    } else {
+      return "idle"
+    }
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# function to request the read of a parameter on a device
+proc ::scobj::huber_pilot::getValue {tc_root nextState cmd_str} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set cmd "${cmd_str}"
+# getValue hook code starts
+    set cmd "\{M${cmd_str}****"
+# getValue hook code ends
+    if { [hpropexists [sct] geterror] } {
+      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
+      error "[sct geterror]"
+    }
+    debug_log ${tc_root} 1 "getValue sct send ${cmd}"
+    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
+      sct send "${cmd}"
+    }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# halt function for driveable interface
+proc ::scobj::huber_pilot::halt {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "halt tc_root=${tc_root} sct=[sct] driving=[sct driving]"
+    ### TODO hset [sct] [hval [sct]]
+# halt hook code goes here
+    sct driving 0
+    return "idle"
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# function to check the write parameter on a device
+proc ::scobj::huber_pilot::noResponse {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
+# noResponse hook code goes here
+    return "idle"
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# function to parse the read of a parameter on a device
+proc ::scobj::huber_pilot::rdValue {tc_root} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "rdValue tc_root=${tc_root} sct=[sct] result=[sct result]"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set data [sct result]
+    set nextState "idle"
+    if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
+      # the protocol driver has reported an error
+      sct geterror "${data}"
+      error "[sct geterror]"
+    }
+# rdValue hook code starts
+    if {[string length ${data}] < 8} {
+      sct geterror "rdValue short response ${data}"
+    } elseif { ![string equal -nocase [string range ${data} 1 2] "S0"] } {
+      sct geterror "rdValue syntax error ${data}"
+    } else {
+      set resp [scan [string range ${data} 4 end] "%x" val]
+      if { ${resp} < 1 } { 
+        sct geterror "rdValue scan error ${data}"
+      } else {
+        if { ${val} >= 0x8000 } {
+          set val [expr ${val} - 0x10000]
+        }
+        set data [expr 0.01 * ${val}]
+        if { ${data} <= -151.00 } {
+          sct geterror "rdValue value error ${data}"
+        }
+      }
+    }
+# rdValue hook code ends
+    if { [hpropexists [sct] geterror] } {
+      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
+      error "[sct geterror]"
+    }
+    if { ${data} != [sct oldval] } {
+      debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
+      sct oldval ${data}
+      sct update ${data}
+      sct utime readtime
+      }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+# function to write a parameter value on a device
+proc ::scobj::huber_pilot::setValue {tc_root nextState cmd_str} {
+  set catch_status [ catch {
+    debug_log ${tc_root} 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
+    if { [hpropexists [sct] geterror] } {
+      hdelprop [sct] geterror
+    }
+    set par [sct target]
+    set cmd "${cmd_str}${par}"
+# setValue hook code starts
+    set param [expr { round(100.0 * [sct target]) }]
+    set param [string range [format "%04X" ${param}] end-3 end]
+    set cmd "\{M${cmd_str}${param}"
+# setValue hook code ends
+    if { [hpropexists [sct] geterror] } {
+      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
+      error "[sct geterror]"
+    }
+    if { [hpropexists [sct] driving] } {
+      if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
+        sct driving 1
+      }
+    }
+    debug_log ${tc_root} 1 "setValue sct send ${cmd}"
+    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
+      sct send "${cmd}"
+    }
+    return ${nextState}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+proc ::scobj::huber_pilot::mkDriver { sct_controller name } {
+  ::scobj::huber_pilot::sics_log 9 "::scobj::huber_pilot::mkDriver for ${name}"
+  set ns "[namespace current]"
+  set catch_status [ catch {
+
+    set permlink_device_number [format "%02d" [incr ::scobj::permlink_device_counter]]
+
+    MakeSICSObj ${name} SCT_OBJECT
+
+    sicslist setatt ${name} klass environment
+    sicslist setatt ${name} long_name ${name}
+
+    set scobj_hpath /sics/${name}
+
+    hfactory ${scobj_hpath}/Loop1 plain spy none
+
+    hfactory ${scobj_hpath}/Loop1/sensor plain user float
+    hsetprop ${scobj_hpath}/Loop1/sensor read ${ns}::getValue ${scobj_hpath} rdValue {01}
+    hsetprop ${scobj_hpath}/Loop1/sensor rdValue ${ns}::rdValue ${scobj_hpath}
+    hsetprop ${scobj_hpath}/Loop1/sensor control true
+    hsetprop ${scobj_hpath}/Loop1/sensor data true
+    hsetprop ${scobj_hpath}/Loop1/sensor mutable false
+    hsetprop ${scobj_hpath}/Loop1/sensor nxsave true
+    hsetprop ${scobj_hpath}/Loop1/sensor permlink data_set "T${permlink_device_number}S01"
+    hsetprop ${scobj_hpath}/Loop1/sensor @description "T${permlink_device_number}S01"
+    hsetprop ${scobj_hpath}/Loop1/sensor oldval 0.0
+    hsetprop ${scobj_hpath}/Loop1/sensor sdsinfo "::nexus::scobj::sdsinfo"
+    hsetprop ${scobj_hpath}/Loop1/sensor type "part"
+    hsetprop ${scobj_hpath}/Loop1/sensor nxalias "${name}_Loop1_sensor"
+
+    hfactory ${scobj_hpath}/Loop1/setpoint plain user float
+    hsetprop ${scobj_hpath}/Loop1/setpoint read ${ns}::getValue ${scobj_hpath} rdValue {00}
+    hsetprop ${scobj_hpath}/Loop1/setpoint rdValue ${ns}::rdValue ${scobj_hpath}
+    hsetprop ${scobj_hpath}/Loop1/setpoint write ${ns}::setValue ${scobj_hpath} noResponse {00}
+    hsetprop ${scobj_hpath}/Loop1/setpoint noResponse ${ns}::noResponse ${scobj_hpath}
+    hsetprop ${scobj_hpath}/Loop1/setpoint check ${ns}::checkrange ${scobj_hpath}
+    hsetprop ${scobj_hpath}/Loop1/setpoint driving 0
+    hsetprop ${scobj_hpath}/Loop1/setpoint checklimits ${ns}::checklimits ${scobj_hpath}
+    hsetprop ${scobj_hpath}/Loop1/setpoint checkstatus ${ns}::checkstatus ${scobj_hpath}
+    hsetprop ${scobj_hpath}/Loop1/setpoint halt ${ns}::halt ${scobj_hpath}
+    hsetprop ${scobj_hpath}/Loop1/setpoint driveable Loop1/sensor
+    hsetprop ${scobj_hpath}/Loop1/setpoint control true
+    hsetprop ${scobj_hpath}/Loop1/setpoint data true
+    hsetprop ${scobj_hpath}/Loop1/setpoint mutable false
+    hsetprop ${scobj_hpath}/Loop1/setpoint nxsave true
+    hsetprop ${scobj_hpath}/Loop1/setpoint lowerlimit -25.0
+    hsetprop ${scobj_hpath}/Loop1/setpoint upperlimit 30.0
+    hsetprop ${scobj_hpath}/Loop1/setpoint tolerance 0.5
+    hsetprop ${scobj_hpath}/Loop1/setpoint permlink data_set "T${permlink_device_number}SP01"
+    hsetprop ${scobj_hpath}/Loop1/setpoint @description "T${permlink_device_number}SP01"
+    hsetprop ${scobj_hpath}/Loop1/setpoint oldval 0.0
+    hsetprop ${scobj_hpath}/Loop1/setpoint sdsinfo "::nexus::scobj::sdsinfo"
+    hsetprop ${scobj_hpath}/Loop1/setpoint settle_time "10"
+    hsetprop ${scobj_hpath}/Loop1/setpoint type "drivable"
+    hsetprop ${scobj_hpath}/Loop1/setpoint nxalias "${name}_Loop1_setpoint"
+
+    if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
+      ${sct_controller} poll ${scobj_hpath}/Loop1/sensor 1
+      ${sct_controller} poll ${scobj_hpath}/Loop1/setpoint 1
+      ${sct_controller} write ${scobj_hpath}/Loop1/setpoint
+      ansto_makesctdrive ${name}_Loop1_setpoint ${scobj_hpath}/Loop1/setpoint ${scobj_hpath}/Loop1/sensor ${sct_controller}
+    } else {
+      ::scobj::huber_pilot::sics_log 9 "[environment_simulation] => No poll/write for huber_pilot"
+    }
+    hsetprop ${scobj_hpath} klass environment
+    hsetprop ${scobj_hpath} debug_threshold 1
+# mkDriver hook code goes here
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+namespace eval ::scobj::huber_pilot {
+  namespace export debug_threshold
+  namespace export debug_log
+  namespace export sics_log
+  namespace export mkDriver
+}
+
+proc add_huber_pilot {name IP port} {
+  set catch_status [ catch {
+    ::scobj::huber_pilot::sics_log 9 "add_huber_pilot ${name} ${IP} ${port}"
+    if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
+      if {[string equal -nocase "aqadapter" "${IP}"]} {
+        ::scobj::huber_pilot::sics_log 9 "makesctcontroller sct_${name} aqadapter ${port}"
+        makesctcontroller sct_${name} aqadapter ${port}
+      } else {
+        ::scobj::huber_pilot::sics_log 9 "makesctcontroller sct_${name} std ${IP}:${port}"
+        makesctcontroller sct_${name} std ${IP}:${port}
+      }
+    } else {
+      ::scobj::huber_pilot::sics_log 9 "[environment_simulation] => No sctcontroller for huber_pilot"
+    }
+    ::scobj::huber_pilot::sics_log 1 "::scobj::huber_pilot::mkDriver sct_${name} ${name}"
+    ::scobj::huber_pilot::mkDriver sct_${name} ${name}
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+puts stdout "file evaluation of sct_huber_pilot.tcl"
+::scobj::huber_pilot::sics_log 9 "file evaluation of sct_huber_pilot.tcl"
+
+proc ::scobj::huber_pilot::read_config {} {
+  set catch_status [ catch {
+    set ns "::scobj::huber_pilot"
+    dict for {k v} $::config_dict {
+      if { [dict exists $v "driver"] } {
+        if { [dict get $v "driver"] == "huber_pilot" } {
+          if { [dict get $v enabled] } {
+            set name [dict get $v name]
+            if { ![string equal -nocase [SplitReply [environment_simulation]] "false"] } {
+              set asyncqueue "null"
+              ${ns}::sics_log 9 "[environment_simulation] => using null asyncqueue"
+            } elseif { [dict exists $v "asyncqueue"] } {
+              set asyncqueue [dict get $v "asyncqueue"]
+            } else {
+              if { [dict exists $v "asyncprotocol"] } {
+                set asyncprotocol [dict get $v "asyncprotocol"]
+              } else {
+                set asyncprotocol ${name}_protocol
+                MakeAsyncProtocol ${asyncprotocol}
+                if { [dict exists $v "terminator"] } {
+                  ${asyncprotocol} sendterminator "[dict get $v "terminator"]"
+                  ${asyncprotocol} replyterminator "[dict get $v "terminator"]"
+                }
+              }
+              set asyncqueue ${name}_queue
+              set IP [dict get $v ip]
+              set PORT [dict get $v port]
+              MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${IP} ${PORT}
+              if { [dict exists $v "timeout"] } {
+                ${asyncqueue} timeout "[dict get $v "timeout"]"
+              }
+            }
+            add_huber_pilot ${name} "aqadapter" ${asyncqueue}
+          }
+        }
+      }
+    }
+  } catch_message ]
+  handle_exception ${catch_status} ${catch_message}
+}
+
+if { [info exists ::config_dict] } {
+  ::scobj::huber_pilot::read_config
+} else {
+  ::scobj::huber_pilot::sics_log 5 "No config dict"
+}
diff --git a/site_ansto/instrument/sans/quokka_configuration.tcl b/site_ansto/instrument/sans/quokka_configuration.tcl
index 0983dbf7..21a7c560 100644
--- a/site_ansto/instrument/sans/quokka_configuration.tcl
+++ b/site_ansto/instrument/sans/quokka_configuration.tcl
@@ -46,6 +46,7 @@ fileeval $cfPath(environment)/magneticField/sct_bruker_BEC1.tcl
 fileeval $cfPath(environment)/environment.tcl
 fileeval $cfPath(environment)/sct_rheometer.tcl
 fileeval $cfPath(environment)/sct_protek_common.tcl
+fileeval $cfPath(environment)/sct_huber_pilot.tcl
 fileeval $cfPath(beamline)/spin_flipper.tcl
 fileeval $cfPath(commands)/pulser.tcl
 fileeval $cfPath(commands)/hvcommands.tcl