Add a driver for the Omron ZS-HLDC Laser Displacement device
This commit is contained in:
Douglas Clowes
48
site_ansto/instrument/config/environment/omron_hldc.sct
Normal file
48
site_ansto/instrument/config/environment/omron_hldc.sct
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@ -0,0 +1,48 @@
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# Simple driver generator for the Omron ZS-HLDC Laser Displacement
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# vim: ts=8 sts=2 sw=2 expandtab autoindent smartindent
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#
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driver omron_hldc = {
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debug_threshold = 5;
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vendor = Omron; device = 'ZS-HDLC'; protocol = std;
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class = environment;
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simulation_group = environment_simulation;
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group = {
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readable = 1;
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var id = {
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type = text
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read_function = read_id; read_command = '0501';
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}
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var distance = {
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type = float
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read_function = read_mm; read_command = '0201C02030008001'; }
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}
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code getValue = {%%
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set cmd "00000${cmd}"
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%%}
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code read_id = {%%
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if {[string length ${data}] < 14} {
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sct geterror "read_id short response ${data}"
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} else {
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set data [string range ${data} 14 end]
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}
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%%}
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code read_mm = {%%
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if {[string length "${data}"] < 34} {
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sct geterror "read_mm short response ${data}"
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} else {
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set hex [string range ${data} 26 end]
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debug_log ${tc_root} 1 "hex = ${hex}"
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set n [scan "${hex}" "%x" val]
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if {${n} == 1} {
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set data [expr {0.000001 * ${val}}]
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} else {
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sct geterror "read_mm n = ${n} for hex = ${hex}"
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}
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}
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%%}
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}
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317
site_ansto/instrument/config/environment/sct_omron_hldc.tcl
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317
site_ansto/instrument/config/environment/sct_omron_hldc.tcl
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@ -0,0 +1,317 @@
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# Generated driver for omron_hldc
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# vim: ft=tcl tabstop=8 softtabstop=2 shiftwidth=2 nocindent smartindent
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#
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namespace eval ::scobj::omron_hldc {
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set debug_threshold 5
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}
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proc ::scobj::omron_hldc::debug_log {tc_root debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold [hgetpropval ${tc_root} debug_threshold]
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if {${debug_level} >= ${debug_threshold}} {
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set fd [open "../log/omron_hldc_[basename ${tc_root}].log" "a"]
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set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
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puts ${fd} "${line}"
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close ${fd}
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}
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} catch_message ]
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}
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proc ::scobj::omron_hldc::sics_log {debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold ${::scobj::omron_hldc::debug_threshold}
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if {${debug_level} >= ${debug_threshold}} {
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sicslog "::scobj::omron_hldc::${debug_string}"
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}
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} catch_message ]
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}
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# check function for hset change
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proc ::scobj::omron_hldc::checkrange {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
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set setpoint [sct target]
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if { [hpropexists [sct] lowerlimit] } {
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set lolimit [sct lowerlimit]
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} else {
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# lowerlimit not set, use target
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set lolimit [sct target]
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}
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if { [hpropexists [sct] upperlimit] } {
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set hilimit [sct upperlimit]
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} else {
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# upperlimit not set, use target
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set hilimit [sct target]
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}
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# checkrange hook code goes here
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if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
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error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
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}
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return OK
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to request the read of a parameter on a device
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proc ::scobj::omron_hldc::getValue {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set cmd "${cmd_str}"
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# getValue hook code starts
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set cmd "00000${cmd}"
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# getValue hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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debug_log ${tc_root} 1 "getValue sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to check the write parameter on a device
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proc ::scobj::omron_hldc::noResponse {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
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# noResponse hook code goes here
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return "idle"
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to parse the read of a parameter on a device
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proc ::scobj::omron_hldc::read_id {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "read_id tc_root=${tc_root} sct=[sct] result=[sct result]"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set data [sct result]
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set nextState "idle"
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if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
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# the protocol driver has reported an error
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sct geterror "${data}"
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error "[sct geterror]"
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}
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# read_id hook code starts
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if {[string length ${data}] < 14} {
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sct geterror "read_id short response ${data}"
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} else {
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set data [string range ${data} 14 end]
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}
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# read_id hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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if { ${data} != [sct oldval] } {
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[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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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to parse the read of a parameter on a device
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proc ::scobj::omron_hldc::read_mm {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "read_mm tc_root=${tc_root} sct=[sct] result=[sct result]"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set data [sct result]
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set nextState "idle"
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if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
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# the protocol driver has reported an error
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sct geterror "${data}"
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error "[sct geterror]"
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}
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# read_mm hook code starts
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if {[string length "${data}"] < 34} {
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sct geterror "read_mm short response ${data}"
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} else {
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set hex [string range ${data} 26 end]
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debug_log ${tc_root} 1 "hex = ${hex}"
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set n [scan "${hex}" "%x" val]
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if {${n} == 1} {
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set data [expr {0.000001 * ${val}}]
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} else {
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sct geterror "read_mm n = ${n} for hex = ${hex}"
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}
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}
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# read_mm hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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if { ${data} != [sct oldval] } {
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[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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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to write a parameter value on a device
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proc ::scobj::omron_hldc::setValue {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set par [sct target]
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set cmd "${cmd_str}${par}"
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# setValue hook code goes here
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if { [hpropexists [sct] driving] } {
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if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
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sct driving 1
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}
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}
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debug_log ${tc_root} 1 "setValue sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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proc ::scobj::omron_hldc::mkDriver { sct_controller name } {
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::scobj::omron_hldc::sics_log 9 "::scobj::omron_hldc::mkDriver for ${name}"
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set ns "[namespace current]"
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set catch_status [ catch {
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MakeSICSObj ${name} SCT_OBJECT
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sicslist setatt ${name} klass environment
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sicslist setatt ${name} long_name ${name}
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set scobj_hpath /sics/${name}
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hfactory ${scobj_hpath}/distance plain user float
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hsetprop ${scobj_hpath}/distance read ${ns}::getValue ${scobj_hpath} read_mm {0201C02030008001}
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hsetprop ${scobj_hpath}/distance read_mm ${ns}::read_mm ${scobj_hpath}
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hsetprop ${scobj_hpath}/distance control true
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hsetprop ${scobj_hpath}/distance data true
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hsetprop ${scobj_hpath}/distance mutable false
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hsetprop ${scobj_hpath}/distance nxsave true
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hsetprop ${scobj_hpath}/distance oldval 0.0
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hsetprop ${scobj_hpath}/distance sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/distance type "part"
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hsetprop ${scobj_hpath}/distance nxalias "${name}_distance"
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hfactory ${scobj_hpath}/id plain user text
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hsetprop ${scobj_hpath}/id read ${ns}::getValue ${scobj_hpath} read_id {0501}
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hsetprop ${scobj_hpath}/id read_id ${ns}::read_id ${scobj_hpath}
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hsetprop ${scobj_hpath}/id control true
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hsetprop ${scobj_hpath}/id data true
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hsetprop ${scobj_hpath}/id mutable false
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hsetprop ${scobj_hpath}/id nxsave true
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hsetprop ${scobj_hpath}/id oldval UNKNOWN
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hsetprop ${scobj_hpath}/id sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/id type "part"
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hsetprop ${scobj_hpath}/id nxalias "${name}_id"
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if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
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${sct_controller} poll ${scobj_hpath}/distance 1
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${sct_controller} poll ${scobj_hpath}/id 1
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} else {
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::scobj::omron_hldc::sics_log 9 "[environment_simulation] => No poll/write for omron_hldc"
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}
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hsetprop ${scobj_hpath} klass environment
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hsetprop ${scobj_hpath} debug_threshold 5
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# mkDriver hook code goes here
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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namespace eval ::scobj::omron_hldc {
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namespace export debug_threshold
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namespace export debug_log
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namespace export sics_log
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namespace export mkDriver
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}
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proc add_omron_hldc {name IP port} {
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set catch_status [ catch {
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::scobj::omron_hldc::sics_log 9 "add_omron_hldc ${name} ${IP} ${port}"
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if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
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if {[string equal -nocase "aqadapter" "${IP}"]} {
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::scobj::omron_hldc::sics_log 9 "makesctcontroller sct_${name} aqadapter ${port}"
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makesctcontroller sct_${name} aqadapter ${port}
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} else {
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::scobj::omron_hldc::sics_log 9 "makesctcontroller sct_${name} std ${IP}:${port}"
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makesctcontroller sct_${name} std ${IP}:${port}
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}
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} else {
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::scobj::omron_hldc::sics_log 9 "[environment_simulation] => No sctcontroller for omron_hldc"
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}
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::scobj::omron_hldc::sics_log 1 "::scobj::omron_hldc::mkDriver sct_${name} ${name}"
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::scobj::omron_hldc::mkDriver sct_${name} ${name}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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puts stdout "file evaluation of sct_omron_hldc.tcl"
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::scobj::omron_hldc::sics_log 9 "file evaluation of sct_omron_hldc.tcl"
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proc ::scobj::omron_hldc::read_config {} {
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set catch_status [ catch {
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set ns "::scobj::omron_hldc"
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dict for {k v} $::config_dict {
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if { [dict exists $v "driver"] } {
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if { [dict get $v "driver"] == "omron_hldc" } {
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if { [dict get $v enabled] } {
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set name [dict get $v name]
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if { ![string equal -nocase [SplitReply [environment_simulation]] "false"] } {
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set asyncqueue "null"
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${ns}::sics_log 9 "[environment_simulation] => using null asyncqueue"
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} elseif { [dict exists $v "asyncqueue"] } {
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set asyncqueue [dict get $v "asyncqueue"]
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} else {
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if { [dict exists $v "asyncprotocol"] } {
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set asyncprotocol [dict get $v "asyncprotocol"]
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} else {
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set asyncprotocol ${name}_protocol
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MakeAsyncProtocol ${asyncprotocol}
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if { [dict exists $v "terminator"] } {
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${asyncprotocol} sendterminator "[dict get $v "terminator"]"
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${asyncprotocol} replyterminator "[dict get $v "terminator"]"
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}
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}
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set asyncqueue ${name}_queue
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set IP [dict get $v ip]
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set PORT [dict get $v port]
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MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${IP} ${PORT}
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if { [dict exists $v "timeout"] } {
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${asyncqueue} timeout "[dict get $v "timeout"]"
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}
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}
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add_omron_hldc ${name} "aqadapter" ${asyncqueue}
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}
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}
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}
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}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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if { [info exists ::config_dict] } {
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::scobj::omron_hldc::read_config
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} else {
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::scobj::omron_hldc::sics_log 5 "No config dict"
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}
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@ -28,6 +28,7 @@ fileeval $cfPath(counter)/counter.tcl
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fileeval $cfPath(environment)/sct_syr.tcl
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fileeval $cfPath(environment)/sct_mvp.tcl
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fileeval $cfPath(environment)/sct_protek_common.tcl
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fileeval $cfPath(environment)/sct_omron_hldc.tcl
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fileeval $cfPath(environment)/magneticField/sct_bruker_BEC1.tcl
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fileeval $cfPath(environment)/temperature/sct_lakeshore_336.tcl
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fileeval $cfPath(environment)/temperature/sct_lakeshore_340.tcl
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