# $Revision: 1.1 $
# $Date: 2006-10-12 23:06:05 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by: $Author: ffr $

# Requires a configuration array for each axis that you want to simulate.
# eg
#array set B [list AC 25000 TP 7827107 TD 25000 PA 25000 stepsPerX 25000 cntsPerX 8192 DC 25000 SP 25000]
# The mkSimAxes.tcl script creates files with arrays like the example above.

# Substitutes position values for _TDx and _TPx
# then evaluates the expression.
proc evaluate {args} {
  regsub -all {_T[DP][ABCDEFGH]} $args {[eval [parse &]]} expression;
  regsub -all {\d+} $expression {&.0} expression;
  return [uplevel #0 expr $expression];
}

proc dmset {cmd axis args} {
  set num [scan $args {%d} val];
  if {$num == 1} {
    set val $args;
  } else {
    set val [evaluate $args]
  }
  if {[string first $cmd "PA SP AC DC"] != -1} {
    uplevel #0 set ${axis}($cmd) $val;
  } else {
    uplevel #0 $cmd $axis $val;
  }
}

proc dmget {cmd axis} {
 uplevel #0 set ${axis}($cmd)
}

proc dmcall {cmd paxis} {
  upvar $paxis axis;
  uplevel #0 eval $cmd $paxis
}

proc DP {axis val} {
    uplevel #0 eval set ${axis}(TD) $val
}
proc TS {axis} {
    uplevel #0 eval set ${axis}(TS)
}

proc SH {args} {}
proc MO {args} {}

proc BG {_axis} {
  upvar #0 $_axis axis;
  set axis(TS) 140; # moving, limit switches open
  set timeStep 0.1; # seconds
  set target $axis(PA);
  set diff [expr $target - $axis(TD)];
  set sign [expr ($axis(PA) - $axis(TD)) < 0 ? -1 : 1];
  set step [expr $sign * $timeStep * $axis(SP) ];
  if {[expr abs($diff) < abs($step)]} {
    set step $diff;
    set timeStep [expr abs($step / $axis(SP))];
  }
  every [expr round($timeStep * 1000)] "nextstep $_axis $step $target"

#  set diff [expr $target - $axis(TD)];
#  set mult [expr $axis(cntsPerX).0/$axis(stepsPerX)];
#  set axis(TP) [expr round($diff*$mult + $axis(TP))];
#  set axis(TD) $target;
}

# Don't handle _XQ _HX
proc MG {msg} {
# If msg starts with _ then return val for axis
  if {[string index $msg 0] == "_"} {
    return [eval [parse $msg]];
  } else {
    return $msg;
  }
}


proc every {ms body} {
  if [eval $body] {
    after $ms [list every $ms $body];
  }
  return;
}

proc nextstep {paxis step target} {
  upvar #0 $paxis axis;
  set mult [expr $axis(cntsPerX).0/$axis(stepsPerX)];
  set axis(TP) [expr $step * $mult + $axis(TP)];
  set axis(TD) [expr $axis(TD) + $step];
  if {[expr abs($axis(TD) - $target.0)] < 0.5} {
    set axis(TS) 44; # Stopped, limit switches open
    return 0;
  } elseif {[expr abs($target - $axis(TD)) < abs($step)]} {
    set diff [expr $target - $axis(TD)];
    set axis(TP) [expr round($diff*$mult + $axis(TP))];
    set axis(TD) $target;
    set axis(TS) 44; # Stopped, limit switches open
    return 0;
  } else {
    return 1;
  }
}