# Generated driver for pfeiffer_hg
# vim: ft=tcl tabstop=8  softtabstop=2  shiftwidth=2  nocindent  smartindent
#

namespace eval ::scobj::pfeiffer_hg {
  set debug_threshold 0
  if { ![info exists ::scobj::permlink_device_counter]} {
    set ::scobj::permlink_device_counter 0
  }
}

proc ::scobj::pfeiffer_hg::debug_log {debug_level debug_string} {
  set catch_status [ catch {
    if {${debug_level} >= ${::scobj::pfeiffer_hg::debug_threshold}} {
      set fd [open "/tmp/pfeiffer_hg.log" "a"]
      set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
      puts ${fd} "${line}"
      close ${fd}
    }
  } catch_message ]
}

# function to parse the read of a parameter on a device
proc ::scobj::pfeiffer_hg::ack_enq {tc_root} {
  set catch_status [ catch {
    debug_log 1 "ack_enq 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]"
    }
# hook code starts
    if {[string equal -nocase -length 1 ${data} "\x06"]} {
      debug_log 1 "ack_enq received ACK, send ENQ"
      sct send "\x05"
    }
    return "readPR1"
# hook code ends
    if { [hpropexists [sct] geterror] } {
      debug_log 1 "[sct] error: [sct geterror]"
      error "[sct geterror]"
    }
    if { ${data} != [sct oldval] } {
      debug_log 1 "[sct] changed to new:${data}, from old:[sct oldval]"
      sct oldval ${data}
      sct update ${data}
      sct utime readtime
      }
    return ${nextState}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# checklimits function for driveable interface
proc ::scobj::pfeiffer_hg::checklimits {tc_root} {
  set catch_status [ catch {
    debug_log 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]
    }
# 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::pfeiffer_hg::checkrange {tc_root} {
  set catch_status [ catch {
    debug_log 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]
    }
# 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::pfeiffer_hg::checkstatus {tc_root} {
  set catch_status [ catch {
# 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::pfeiffer_hg::getValue {tc_root nextState cmd_str} {
  set catch_status [ catch {
    debug_log 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
    if { [hpropexists [sct] geterror] } {
      hdelprop [sct] geterror
    }
    set cmd "${cmd_str}"
# hook code goes here
    debug_log 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::pfeiffer_hg::halt {tc_root} {
  set catch_status [ catch {
    debug_log 1 "halt tc_root=${tc_root} sct=[sct] driving=[sct driving]"
    ### TODO hset [sct] [hval [sct]]
# 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::pfeiffer_hg::noResponse {tc_root} {
  set catch_status [ catch {
    debug_log 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
# hook code goes here
    return "idle"
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# pid function for PID control
proc ::scobj::pfeiffer_hg::pid_pressure {tc_root sp pv} {
  set catch_status [ catch {
    debug_log 1 "pid_pressure tc_root=${tc_root} sct=[sct] pv=${pv} sp=${sp}"
    sct pid_error [expr ${sp} - ${pv}]
    set p_value [expr [sct pid_pvalue] * [sct pid_error]]
    set d_value [expr [sct pid_dvalue] * (${pv} - [sct oldval])]
    sct pid_deriv [sct pid_error]
    sct pid_integ [expr [sct pid_integ] + [sct pid_error]]
    if { [sct pid_integ] > [sct pid_imax] } {
      sct pid_integ [sct pid_imax]
    }
    if { [sct pid_integ] < -[sct pid_imax] } {
      sct pid_integ -[sct pid_imax]
    }
    set i_value [expr [sct pid_ivalue] * [sct pid_integ]]
    set pid [expr ${p_value} + ${i_value} + ${d_value}]
# hook code starts
    if { [hpropexists [sct] pid_control] } {
      hsetprop [hgetpropval [sct] pid_control] pid_bias ${pid} 
        if { [hpropexists [hgetpropval [sct] pid_control] target] } {
          hset [hgetpropval [sct] pid_control] [hgetpropval [hgetpropval [sct] pid_control] target]
        } else {
          hset [hgetpropval [sct] pid_control] [hval [hgetpropval [sct] pid_control]]
        }
    }
# hook code ends
    sct pid_output ${pid}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
  return ${pid}
}

# function to parse the read of a parameter on a device
proc ::scobj::pfeiffer_hg::rdValue {tc_root} {
  set catch_status [ catch {
    debug_log 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]"
    }
# hook code goes here
    if { ${data} != [sct oldval] } {
      debug_log 1 "[sct] changed to new:${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 parse the read of a parameter on a device
proc ::scobj::pfeiffer_hg::readPR1 {tc_root} {
  set catch_status [ catch {
    debug_log 1 "readPR1 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]"
    }
# hook code starts
    set val [string range $data 3 12]
    set status [string range $data 0 0]
    set data ${val}
    hupdate ${tc_root}/status $status
    if { [hpropexists [sct] pid_control] && [hpropexists [sct] pid_setpoint] } {
      set sp [hval ${tc_root}/[sct pid_setpoint]]
      set pv $val
      pid_pressure ${tc_root} ${sp} ${pv}
    }
# hook code ends
    if { [hpropexists [sct] geterror] } {
      debug_log 1 "[sct] error: [sct geterror]"
      error "[sct geterror]"
    }
    if { ${data} != [sct oldval] } {
      debug_log 1 "[sct] changed to new:${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 request the read of a parameter on a device
proc ::scobj::pfeiffer_hg::sendPR1 {tc_root nextState cmd_str} {
  set catch_status [ catch {
    debug_log 1 "sendPR1 tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
    if { [hpropexists [sct] geterror] } {
      hdelprop [sct] geterror
    }
    set cmd "${cmd_str}"
# hook code goes here
    debug_log 1 "sendPR1 sct send ${cmd}"
    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
      sct send "${cmd}"
    }
    return ${nextState}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# function to write a parameter value on a device
proc ::scobj::pfeiffer_hg::setPoint {tc_root nextState cmd_str} {
  set catch_status [ catch {
    debug_log 1 "setPoint 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}"
# hook code starts
    sct pid_control /sample/tc9/Valve/Setpoint
# hook code ends
    if { [hpropexists [sct] geterror] } {
      debug_log 1 "[sct] error: [sct geterror]"
      error "[sct geterror]"
    }
    if { [hpropexists [sct] driving] } {
      if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
        sct driving 1
      }
    }
    debug_log 1 "setPoint sct send ${cmd}"
    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
      sct send "${cmd}"
    }
    return ${nextState}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# function to write a parameter value on a device
proc ::scobj::pfeiffer_hg::setValue {tc_root nextState cmd_str} {
  set catch_status [ catch {
    debug_log 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}"
# hook code goes here
    if { [hpropexists [sct] driving] } {
      if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
        sct driving 1
      }
    }
    debug_log 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::pfeiffer_hg::mk_sct_pfeiffer_hg { sct_controller name } {
  debug_log 1 "mk_sct_pfeiffer_hg 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}/status plain user int
    hsetprop ${scobj_hpath}/status control true
    hsetprop ${scobj_hpath}/status data true
    hsetprop ${scobj_hpath}/status mutable false
    hsetprop ${scobj_hpath}/status nxsave true
    hsetprop ${scobj_hpath}/status oldval 0
    hsetprop ${scobj_hpath}/status sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/status type "part"
    hsetprop ${scobj_hpath}/status nxalias "${name}_status"

    hfactory ${scobj_hpath}/pressure plain spy none

    hfactory ${scobj_hpath}/pressure/sensor plain user float
    hsetprop ${scobj_hpath}/pressure/sensor read ${ns}::sendPR1 ${scobj_hpath} readPR1 {PR1}
    hsetprop ${scobj_hpath}/pressure/sensor readPR1 ${ns}::readPR1 ${scobj_hpath}
    hsetprop ${scobj_hpath}/pressure/sensor control true
    hsetprop ${scobj_hpath}/pressure/sensor data true
    hsetprop ${scobj_hpath}/pressure/sensor mutable false
    hsetprop ${scobj_hpath}/pressure/sensor nxsave true
    hsetprop ${scobj_hpath}/pressure/sensor permlink data_set "P${permlink_device_number}S01"
    hsetprop ${scobj_hpath}/pressure/sensor @description "P${permlink_device_number}S01"
    hsetprop ${scobj_hpath}/pressure/sensor oldval 0.0
    hsetprop ${scobj_hpath}/pressure/sensor pid_control "/sample/tc9/Valve/Setpoint"
    hsetprop ${scobj_hpath}/pressure/sensor pid_deriv "0"
    hsetprop ${scobj_hpath}/pressure/sensor pid_dvalue "0.0"
    hsetprop ${scobj_hpath}/pressure/sensor pid_error "0"
    hsetprop ${scobj_hpath}/pressure/sensor pid_imax "30"
    hsetprop ${scobj_hpath}/pressure/sensor pid_integ "0"
    hsetprop ${scobj_hpath}/pressure/sensor pid_ivalue "0.1"
    hsetprop ${scobj_hpath}/pressure/sensor pid_pvalue "0.2"
    hsetprop ${scobj_hpath}/pressure/sensor pid_setpoint "pressure/setpoint"
    hsetprop ${scobj_hpath}/pressure/sensor sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/pressure/sensor type "part"
    hsetprop ${scobj_hpath}/pressure/sensor nxalias "${name}_pressure_sensor"

    hfactory ${scobj_hpath}/pressure/setpoint plain user float
    hsetprop ${scobj_hpath}/pressure/setpoint write ${ns}::setPoint ${scobj_hpath} noResponse {@}
    hsetprop ${scobj_hpath}/pressure/setpoint noResponse ${ns}::noResponse ${scobj_hpath}
    hsetprop ${scobj_hpath}/pressure/setpoint check ${ns}::checkrange ${scobj_hpath}
    hsetprop ${scobj_hpath}/pressure/setpoint driving 0
    hsetprop ${scobj_hpath}/pressure/setpoint checklimits ${ns}::checklimits ${scobj_hpath}
    hsetprop ${scobj_hpath}/pressure/setpoint checkstatus ${ns}::checkstatus ${scobj_hpath}
    hsetprop ${scobj_hpath}/pressure/setpoint halt ${ns}::halt ${scobj_hpath}
    hsetprop ${scobj_hpath}/pressure/setpoint driveable pressure/sensor
    hsetprop ${scobj_hpath}/pressure/setpoint control true
    hsetprop ${scobj_hpath}/pressure/setpoint data true
    hsetprop ${scobj_hpath}/pressure/setpoint mutable false
    hsetprop ${scobj_hpath}/pressure/setpoint nxsave true
    hsetprop ${scobj_hpath}/pressure/setpoint lowerlimit 0
    hsetprop ${scobj_hpath}/pressure/setpoint upperlimit 1000
    hsetprop ${scobj_hpath}/pressure/setpoint tolerance 100
    hsetprop ${scobj_hpath}/pressure/setpoint permlink data_set "P${permlink_device_number}SP01"
    hsetprop ${scobj_hpath}/pressure/setpoint @description "P${permlink_device_number}SP01"
    hsetprop ${scobj_hpath}/pressure/setpoint oldval 0.0
    hsetprop ${scobj_hpath}/pressure/setpoint sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/pressure/setpoint settle_time "90"
    hsetprop ${scobj_hpath}/pressure/setpoint type "drivable"
    hsetprop ${scobj_hpath}/pressure/setpoint nxalias "${name}_pressure_setpoint"

    if {[SplitReply [environment_simulation]]=="false"} {
      ${sct_controller} poll ${scobj_hpath}/pressure/sensor 1
      ${sct_controller} write ${scobj_hpath}/pressure/setpoint
      ansto_makesctdrive ${name}_pressure_setpoint ${scobj_hpath}/pressure/setpoint ${scobj_hpath}/pressure/sensor ${sct_controller}
    }
    hsetprop ${scobj_hpath} klass environment
# hook code starts
    hsetprop ${scobj_hpath}/pressure/sensor read ${ns}::sendPR1 ${scobj_hpath} ack_enq {PR1}
    hsetprop ${scobj_hpath}/pressure/sensor ack_enq ${ns}::ack_enq ${scobj_hpath}
# hook code ends
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

namespace eval ::scobj::pfeiffer_hg {
  namespace export debug_log
  namespace export mk_sct_pfeiffer_hg
}

proc add_pfeiffer_hg {name IP port} {
  set catch_status [ catch {
    set ns "::scobj::pfeiffer_hg"
    ${ns}::debug_log 1 "add_pfeiffer_hg ${name} ${IP} ${port}"
    if {[SplitReply [environment_simulation]]=="false"} {
      if {[string equal -nocase "aqadapter" "${IP}"]} {
        ${ns}::debug_log 1 "makesctcontroller sct_${name} aqadapter ${port}"
        makesctcontroller sct_${name} aqadapter ${port}
      } else {
        ${ns}::debug_log 1 "makesctcontroller sct_${name} std ${IP}:${port}"
        makesctcontroller sct_${name} std ${IP}:${port}
      }
    }
    ${ns}::debug_log 1 "mk_sct_pfeiffer_hg sct_${name} ${name}"
    ${ns}::mk_sct_pfeiffer_hg sct_${name} ${name}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

puts stdout "file evaluation of sct_pfeiffer_hg.tcl"
::scobj::pfeiffer_hg::debug_log 1 "file evaluation of sct_pfeiffer_hg.tcl"

proc ::scobj::pfeiffer_hg::read_config {} {
  set catch_status [ catch {
    set ns "::scobj::pfeiffer_hg"
    ${ns}::debug_log 1 "Processing Config"
    dict for {k v} $::config_dict {
      ${ns}::debug_log 1 "Inspecting $k:$v"
      if { [dict exists $v "driver"] } {
        ${ns}::debug_log 1 "Has driver [dict get $v driver]"
        if { [dict get $v "driver"] == "pfeiffer_hg" } {
          ${ns}::debug_log 1 "Correct driver, enabled = [dict get $v enabled]"
          if { [dict get $v enabled] } {
            set IP [dict get $v ip]
            set PORT [dict get $v port]
            set name [dict get $v name]
            MakeAsyncProtocol ${name}_protocol
            if { [dict exists $v "terminator"] } {
              ${name}_protocol sendterminator "[dict get $v "terminator"]"
              ${name}_protocol replyterminator "[dict get $v "terminator"]"
            }
            MakeAsyncQueue ${name}_queue ${name}_protocol ${IP} ${PORT}
            if { [dict exists $v "timeout"] } {
              ${name}_queue timeout "[dict get $v "timeout"]"
            }
            add_pfeiffer_hg ${name} "aqadapter" ${name}_queue
          }
        }
      }
    }
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}
if { [info exists ::config_dict] } {
  ::scobj::pfeiffer_hg::read_config
} else {
  ::scobj::pfeiffer_hg:debug_log 1 "No config dict"
}