implement HALT and improve recovery

r2967 | dcl | 2010-07-01 12:39:42 +1000 (Thu, 01 Jul 2010) | 2 lines

site_ansto/instrument/config/environment/magneticField/sct_oxford_ips.tcl

@@ -43,13 +43,23 @@ debug_log "chkWrite resp=$data sct=[sct] tc_root=$tc_root"
   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 { [hval $tc_root/Display/A] == 4 } {
+    if { [hget $tc_root/drive_state] == "HALT" } {
-      set err_msg "Output is clamped (A=[hval $tc_root/Display/A])"
+      sct print "Output is HALTed, cannot drive"
+      return idle
+    } elseif { [hval $tc_root/Display/A] == 4 } {
+      set err_msg "Output is clamped (A=[hval $tc_root/Display/A]), to unclamp enter \"hset $tc_root/Control/A 0\""
     } elseif { [hval $tc_root/Display/C] != 3 } {
       set err_msg "Control is not remote (C=[hval $tc_root/Display/C])"
-    } elseif { [hval $tc_root/Display/PstntField] == [sct target] } {
+    } elseif { [hval $tc_root/Display/H] == 0 && [hval $tc_root/Display/PstntField] == [sct target] } {
+      sct print "Persistent Field ([hval $tc_root/Display/PstntField]) already at target ([sct target])"
+      return idle
+    } elseif { [hval $tc_root/Display/H] == 1 && [hval $tc_root/Display/OutputField] == [sct target] } {
+      sct print "Output Field ([hval $tc_root/Display/PstntField]) already at target ([sct target])"
+#     return idle
+    } elseif { [hval $tc_root/Display/H] == 2 && [hval $tc_root/Display/PstntField] == [sct target] } {
       sct print "Persistent Field ([hval $tc_root/Display/PstntField]) already at target ([sct target])"
       return idle
     }
@@ -58,7 +68,11 @@ debug_log "setPoint $tc_root $nextState $cmd sct=[sct]"
       debug_log "error:$err_msg"
       return -code error "$err_msg"
     }
+    if { [hval $tc_root/Display/H] == 1 } {
+      sct print "Driving Field ([hval $tc_root/Display/OutputField]) to target ([sct target])"
+    } else {
       sct print "Driving Persistent Field ([hval $tc_root/Display/PstntField]) to target ([sct target])"
+    }
     set par "[sct target]"
     hset $tc_root/status "busy"
     sct print "status: busy"
@@ -87,6 +101,9 @@ debug_log "rdValue $tc_root failure"
       sct geterror "Error: $data"
       set nextState idle
     } else {
+      if { [hpropexists [sct] geterror] } {
+        hdelprop [sct] geterror
+      }
       if {[string index $data 0] == "R"} {
         set data [string range $data 1 end]
         set rslt [scan $data %f data]
@@ -182,12 +199,25 @@ debug_log "rdState $tc_root state=$my_state"
 debug_log "rdState my_status=$my_status"
           set rslt [scan $my_status "X%dA%dC%dH%dM%dP%d" the_x the_a the_c the_h the_m the_p]
           if {$rslt == 6} {
-            if { [hval $tc_root/Display/X] != $the_x } { hset $tc_root/Display/X $the_x }
+            if { [hval $tc_root/Display/X] != $the_x } {
-            if { [hval $tc_root/Display/A] != $the_a } { hset $tc_root/Display/A $the_a }
+              hset $tc_root/Display/X $the_x
-            if { [hval $tc_root/Display/C] != $the_c } { hset $tc_root/Display/C $the_c }
+            }
-            if { [hval $tc_root/Display/H] != $the_h } { hset $tc_root/Display/H $the_h }
+            if { [hval $tc_root/Display/A] != $the_a } {
-            if { [hval $tc_root/Display/M] != $the_m } { hset $tc_root/Display/M $the_m }
+              hset $tc_root/Display/A $the_a
-            if { [hval $tc_root/Display/P] != $the_p } { hset $tc_root/Display/P $the_p }
+            }
+            if { [hval $tc_root/Display/C] != $the_c } {
+              hset $tc_root/Display/C $the_c
+            }
+            if { [hval $tc_root/Display/H] != $the_h } {
+              hset $tc_root/Display/H $the_h
+              hsetprop $tc_root/setpoint hold_time [expr {[clock seconds] + 30}]
+            }
+            if { [hval $tc_root/Display/M] != $the_m } {
+              hset $tc_root/Display/M $the_m
+            }
+            if { [hval $tc_root/Display/P] != $the_p } {
+              hset $tc_root/Display/P $the_p
+            }
 debug_log "rdState $tc_root status($rslt)= X[format %02d $the_x] A$the_a C$the_c H$the_h M[format %02d $the_m] P[format %02d $the_p]"
 # make decisions on next state
             if { $the_c == 0 && $the_a == 4 && $the_m % 10 == 0 } {
@@ -196,16 +226,28 @@ debug_log "rdState $tc_root status($rslt)= X[format %02d $the_x] A$the_a C$the_c
             }
             if { [catch {
               if { $the_h == 2 && "[hval $tc_root/Display/PstntCurrent]" != 0 && "[hval $tc_root/Display/OutputCurrent]" == 0 } {
-                if { [hval  $tc_root/Display/Persistent] != 1 } { hset $tc_root/Display/Persistent 1 }
+                if { [hval  $tc_root/Display/Persistent] != 1 } {
+                  hset $tc_root/Display/Persistent 1
+                  sct print "[hget $tc_root/Display/Persistent]"
+                }
               } else {
-                if { [hval  $tc_root/Display/Persistent] != 0 } { hset $tc_root/Display/Persistent 0 }
+                if { [hval  $tc_root/Display/Persistent] != 0 } {
+                  hset $tc_root/Display/Persistent 0
+                  sct print "[hget $tc_root/Display/Persistent]"
+                }
               }
             } catch_message] } {
 debug_log "rdState catch triggered on Persistent determination: $catch_message"
-              if { [hval  $tc_root/Display/Persistent] != 0 } { hset $tc_root/Display/Persistent 0 }
+              if { [hval  $tc_root/Display/Persistent] != 0 } {
+                hset $tc_root/Display/Persistent 0
+                sct print "[hget $tc_root/Display/Persistent]"
+                sct print "catch=$catch_message"
+              }
             }
             if { [catch {
-              if { [hpropexists $tc_root/sensor/value geterror] } { hdelprop $tc_root/sensor/value geterror }
+              if { [hpropexists $tc_root/sensor/value geterror] } {
+                hdelprop $tc_root/sensor/value geterror
+              }
               if { $the_h == 0 || $the_h == 2 } {
                 if { [hval  $tc_root/sensor/value] != [hval $tc_root/Display/PstntField] } {
                   hset $tc_root/sensor/value [hval $tc_root/Display/PstntField]
@@ -217,8 +259,12 @@ debug_log "rdState catch triggered on Persistent determination: $catch_message"
               }
             } catch_message] } {
 debug_log "rdState catch triggered on Sensor determination: $catch_message"
-              if { [hpropexists  $tc_root/sensor/value geterror] } { hdelprop  $tc_root/sensor/value geterror }
+              if { [hpropexists  $tc_root/sensor/value geterror] } {
-              if { [hval  $tc_root/sensor/value] != 0 } { hset $tc_root/sensor/value 0 }
+                hdelprop $tc_root/sensor/value geterror
+              }
+              if { [hval  $tc_root/sensor/value] != 0 } {
+                hset $tc_root/sensor/value 0
+              }
             }
             set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
             if { $the_c != 3 } {
@@ -226,6 +272,22 @@ debug_log "rdState catch triggered on Sensor determination: $catch_message"
               set nextState read
             } elseif { $my_driving } {
               if { [hval $tc_root/drive_state] == "IDLE" } {
+              } elseif { [hval $tc_root/drive_state] == "HALT" } {
+                if { $the_m % 10 != 0 || $the_a != 0 } {
+                  hsetprop $tc_root/ips120_state my_state "STATE_A0"
+                  set nextState read
+                } elseif { [hval $tc_root/Display/H] == 1 } {
+                  hsetprop $tc_root/ips120_state my_state "STATE_H0"
+                  set nextState read
+                } elseif { [clock seconds] < [SplitReply [hgetprop $tc_root/setpoint hold_time]] } {
+                  hsetprop $tc_root/ips120_state my_state "STATE_H0"
+                  set nextState read
+                } else {
+                  hset $tc_root/drive_state "IDLE"
+                  hset $tc_root/status "idle"
+                  hsetprop $tc_root/setpoint driving 0
+                  set nextState idle
+                }
               } elseif { [hval $tc_root/drive_state] == "START" } {
                 if { [hval $tc_root/Display/H] == 1 && [hval $tc_root/Display/OutputCurrent] != [hval $tc_root/Display/TargetCurrent] } {
                   hsetprop $tc_root/ips120_state my_state "STATE_I"
@@ -290,12 +352,10 @@ debug_log "rdState $tc_root error scan status = $rslt on $my_status"
           set nextState idle
         } elseif {$my_state == "STATE_H0"} {
           hsetprop $tc_root/ips120_state my_state "STATE_X"
-          hsetprop $tc_root/setpoint hold_time [expr [clock seconds] + 30]
           hset $tc_root/drive_state "HOLDING"
           set nextState idle
         } elseif {$my_state == "STATE_H1"} {
           hsetprop $tc_root/ips120_state my_state "STATE_X"
-          hsetprop $tc_root/setpoint hold_time [expr [clock seconds] + 30]
           hset $tc_root/drive_state "HOLDING"
           set nextState idle
         } elseif {$my_state == "STATE_I"} {
@@ -359,6 +419,7 @@ debug_log "rdState $tc_root error scan status = $rslt on $my_status"
     } catch_message ]} {
     debug_log "rdState error: $catch_message"
     }
+    if { "$nextState" == "" } { set nextState "idle" }
     debug_log "rdState returns: $nextState"
     return $nextState
   }
@@ -415,11 +476,14 @@ debug_log "checktol $tc_root $currtime $timecheck"
 
   proc halt {tc_root} {
 debug_log "halt $tc_root"
-    hset $tc_root/setpoint [hval $tc_root/sensor/value]
+sct print "halt $tc_root"
-    hset $tc_root/drive_state "IDLE"
+    set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
-    hset $tc_root/status "idle"
+    hset $tc_root/drive_state "HALT"
-    hsetprop $tc_root/setpoint driving 0
     hsetprop $tc_root/ips120_state my_state "STATE_X"
+    if { $my_driving } {
+      hsetprop $tc_root/ips120_state my_state "STATE_A0"
+      return read
+    }
     return idle
   }