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

namespace eval ::scobj::tank {
  set debug_threshold 5
}

proc ::scobj::tank::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/tank_[basename ${tc_root}].log" "a"]
      set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
      puts ${fd} "${line}"
      close ${fd}
    }
  } catch_message ]
}

proc ::scobj::tank::sics_log {debug_level debug_string} {
  set catch_status [ catch {
    set debug_threshold ${::scobj::tank::debug_threshold}
    if {${debug_level} >= ${debug_threshold}} {
      sicslog "::scobj::tank::${debug_string}"
    }
  } catch_message ]
}

# check function for hset change
proc ::scobj::tank::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}
}

# function to request the read of a parameter on a device
proc ::scobj::tank::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 goes here
    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}
}

# function to check the write parameter on a device
proc ::scobj::tank::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::tank::read_pos {tc_root} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "read_pos tc_root=${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]"
    }
# read_pos hook code starts
  global tank_absenchome tank_cnts_per_x tank_home
  if { [string equal -nocase -length 1 "${data}" "?"] } {
    sct geterror "Galil error in: '${data}'"
  } else {
    set data_list [split [string trim "${data}"]]
    if { [llength ${data_list}] > 1 && [lindex ${data_list} end] == ":" } {
      set data_list [lrange ${data_list} 0 0]
    }
    if { [llength ${data_list}] == 1 } {
      set absenc [unpad [lindex ${data_list} 0]]
      set data [expr {($absenc - $tank_absenchome) / $tank_cnts_per_x + $tank_home}]
      vessel_y $data
    } else {
      sct geterror "Syntax error in: '${data}'=>'${data_list}'"
    }
 }
# read_pos 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 parse the read of a parameter on a device
proc ::scobj::tank::read_switch {tc_root} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "read_switch tc_root=${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]"
    }
# read_switch hook code starts
  if { [string equal -nocase -length 1 "${data}" "?"] } {
    sct geterror "Galil error in: '${data}'"
  } else {
    set data_list [split [string trim "${data}"]]
    if { [llength ${data_list}] > 1 && [lindex ${data_list} end] == ":" } {
      set data_list [lrange ${data_list} 0 0]
    }
    if { [llength ${data_list}] == 1 } {
      set left [expr [lindex ${data_list} 0]]
      if  { ${left} == 1 } { # open
        set data "open"
      } else { # closed
        set data "closed"
      }
    } else {
      sct geterror "Syntax error in: '${data}'=>'${data_list}'"
    }
  }
# read_switch 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::tank::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 goes here
    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::tank::mkDriver { sct_controller name } {
  ::scobj::tank::sics_log 9 "::scobj::tank::mkDriver for ${name}"
  set ns "[namespace current]"
  set catch_status [ catch {

    MakeSICSObj ${name} SCT_OBJECT

    sicslist setatt ${name} klass instrument
    sicslist setatt ${name} long_name ${name}

    set scobj_hpath /sics/${name}

    hfactory ${scobj_hpath}/pos plain spy float
    hsetprop ${scobj_hpath}/pos read ${ns}::getValue ${scobj_hpath} read_pos {MG _TPH}
    hsetprop ${scobj_hpath}/pos read_pos ${ns}::read_pos ${scobj_hpath}
    hsetprop ${scobj_hpath}/pos control true
    hsetprop ${scobj_hpath}/pos data true
    hsetprop ${scobj_hpath}/pos mutable true
    hsetprop ${scobj_hpath}/pos nxsave true
    hsetprop ${scobj_hpath}/pos oldval 0.0
    hsetprop ${scobj_hpath}/pos klass "parameter"
    hsetprop ${scobj_hpath}/pos sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/pos type "part"
    hsetprop ${scobj_hpath}/pos nxalias "${name}_pos"

    hsetprop ${scobj_hpath} data "true"
    hsetprop ${scobj_hpath} klass "@none"
    hsetprop ${scobj_hpath} type "part"

    if {[string equal -nocase [SplitReply [motor_simulation]] "false"]} {
      ${sct_controller} poll ${scobj_hpath}/pos 1
    } else {
      ::scobj::tank::sics_log 9 "[motor_simulation] => No poll/write for tank"
    }

    hfactory ${scobj_hpath}/limits plain spy none
    hsetprop ${scobj_hpath}/limits data "true"
    hsetprop ${scobj_hpath}/limits klass "@none"
    hsetprop ${scobj_hpath}/limits type "part"

    hfactory ${scobj_hpath}/limits/forward plain user text
    hsetprop ${scobj_hpath}/limits/forward read ${ns}::getValue ${scobj_hpath} read_switch {MG _LFH}
    hsetprop ${scobj_hpath}/limits/forward read_switch ${ns}::read_switch ${scobj_hpath}
    hsetprop ${scobj_hpath}/limits/forward control true
    hsetprop ${scobj_hpath}/limits/forward data true
    hsetprop ${scobj_hpath}/limits/forward mutable true
    hsetprop ${scobj_hpath}/limits/forward nxsave true
    hsetprop ${scobj_hpath}/limits/forward oldval UNKNOWN
    hsetprop ${scobj_hpath}/limits/forward klass "parameter"
    hsetprop ${scobj_hpath}/limits/forward sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/limits/forward type "part"
    hsetprop ${scobj_hpath}/limits/forward nxalias "${name}_limits_forward"

    hfactory ${scobj_hpath}/limits/reverse plain user text
    hsetprop ${scobj_hpath}/limits/reverse read ${ns}::getValue ${scobj_hpath} read_switch {MG _LRH}
    hsetprop ${scobj_hpath}/limits/reverse read_switch ${ns}::read_switch ${scobj_hpath}
    hsetprop ${scobj_hpath}/limits/reverse control true
    hsetprop ${scobj_hpath}/limits/reverse data true
    hsetprop ${scobj_hpath}/limits/reverse mutable true
    hsetprop ${scobj_hpath}/limits/reverse nxsave true
    hsetprop ${scobj_hpath}/limits/reverse oldval UNKNOWN
    hsetprop ${scobj_hpath}/limits/reverse klass "parameter"
    hsetprop ${scobj_hpath}/limits/reverse sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/limits/reverse type "part"
    hsetprop ${scobj_hpath}/limits/reverse nxalias "${name}_limits_reverse"

    if {[string equal -nocase [SplitReply [motor_simulation]] "false"]} {
      ${sct_controller} poll ${scobj_hpath}/limits/forward 1
      ${sct_controller} poll ${scobj_hpath}/limits/reverse 1
    } else {
      ::scobj::tank::sics_log 9 "[motor_simulation] => No poll/write for tank"
    }

    hfactory ${scobj_hpath}/switches plain spy none
    hsetprop ${scobj_hpath}/switches data "true"
    hsetprop ${scobj_hpath}/switches klass "@none"
    hsetprop ${scobj_hpath}/switches type "part"

    hfactory ${scobj_hpath}/switches/forward plain user text
    hsetprop ${scobj_hpath}/switches/forward read ${ns}::getValue ${scobj_hpath} read_switch {MG @IN[5]}
    hsetprop ${scobj_hpath}/switches/forward read_switch ${ns}::read_switch ${scobj_hpath}
    hsetprop ${scobj_hpath}/switches/forward control true
    hsetprop ${scobj_hpath}/switches/forward data true
    hsetprop ${scobj_hpath}/switches/forward mutable true
    hsetprop ${scobj_hpath}/switches/forward nxsave true
    hsetprop ${scobj_hpath}/switches/forward oldval UNKNOWN
    hsetprop ${scobj_hpath}/switches/forward klass "parameter"
    hsetprop ${scobj_hpath}/switches/forward sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/switches/forward type "part"
    hsetprop ${scobj_hpath}/switches/forward nxalias "${name}_switches_forward"

    hfactory ${scobj_hpath}/switches/reverse plain user text
    hsetprop ${scobj_hpath}/switches/reverse read ${ns}::getValue ${scobj_hpath} read_switch {MG @IN[6]}
    hsetprop ${scobj_hpath}/switches/reverse read_switch ${ns}::read_switch ${scobj_hpath}
    hsetprop ${scobj_hpath}/switches/reverse control true
    hsetprop ${scobj_hpath}/switches/reverse data true
    hsetprop ${scobj_hpath}/switches/reverse mutable true
    hsetprop ${scobj_hpath}/switches/reverse nxsave true
    hsetprop ${scobj_hpath}/switches/reverse oldval UNKNOWN
    hsetprop ${scobj_hpath}/switches/reverse klass "parameter"
    hsetprop ${scobj_hpath}/switches/reverse sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/switches/reverse type "part"
    hsetprop ${scobj_hpath}/switches/reverse nxalias "${name}_switches_reverse"

    if {[string equal -nocase [SplitReply [motor_simulation]] "false"]} {
      ${sct_controller} poll ${scobj_hpath}/switches/forward 1
      ${sct_controller} poll ${scobj_hpath}/switches/reverse 1
    } else {
      ::scobj::tank::sics_log 9 "[motor_simulation] => No poll/write for tank"
    }
    hsetprop ${scobj_hpath} klass instrument
    hsetprop ${scobj_hpath} data true
    hsetprop ${scobj_hpath} debug_threshold 5
# mkDriver hook code starts
   ::utility::mkVar vessel_y float user vessel_y true instrument true true
   sicslist setatt vessel_y klass instrument
   sicslist setatt vessel_y mutable true
# mkDriver hook code ends
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

namespace eval ::scobj::tank {
  namespace export debug_threshold
  namespace export debug_log
  namespace export sics_log
  namespace export mkDriver
}

proc add_tank {name IP port} {
  set catch_status [ catch {
    ::scobj::tank::sics_log 9 "add_tank ${name} ${IP} ${port}"
    if {[string equal -nocase [SplitReply [motor_simulation]] "false"]} {
      if {[string equal -nocase "aqadapter" "${IP}"]} {
        ::scobj::tank::sics_log 9 "makesctcontroller sct_${name} aqadapter ${port}"
        makesctcontroller sct_${name} aqadapter ${port}
      } else {
        ::scobj::tank::sics_log 9 "makesctcontroller sct_${name} dmc2280 ${IP}:${port}"
        makesctcontroller sct_${name} dmc2280 ${IP}:${port}
      }
    } else {
      ::scobj::tank::sics_log 9 "[motor_simulation] => No sctcontroller for tank"
    }
    ::scobj::tank::sics_log 1 "::scobj::tank::mkDriver sct_${name} ${name}"
    ::scobj::tank::mkDriver sct_${name} ${name}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

clientput "file evaluation of sct_tank.tcl"
::scobj::tank::sics_log 9 "file evaluation of sct_tank.tcl"

proc ::scobj::tank::read_config {} {
  set catch_status [ catch {
    set ns "::scobj::tank"
    dict for {k u} $::config_dict {
      if { [dict exists $u "implementation"] } {
        if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
          continue
        }
        set enabled [string tolower [dict get $u "enabled"]]
        if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
          continue
        }
        set name [dict get $u name]
        set implementation [dict get $u "implementation"]
        if { !([dict exists $::config_dict $implementation]) } {
          continue
        }
        set v [dict get $::config_dict $implementation]
        if { !([dict exists $v "driver"]) } {
          continue
        }
        if { [string equal -nocase [dict get $v "driver"] "tank"] } {
          if { ![string equal -nocase [SplitReply [motor_simulation]] "false"] } {
            set asyncqueue "null"
            ${ns}::sics_log 9 "[motor_simulation] => using null asyncqueue"
          } elseif { [dict exists $v "asyncqueue"] } {
            set asyncqueue [dict get $v "asyncqueue"]
            if { [string equal -nocase ${asyncqueue} "sct"] } {
              set IP [dict get $v ip]
              set PORT [dict get $v port]
              }
          } 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"]"
            }
          }
          if { [string equal -nocase ${asyncqueue} "sct"] } {
            add_tank ${name} ${IP} ${PORT}
          } else {
            add_tank ${name} "aqadapter" ${asyncqueue}
          }
        }
      }
    }
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

if { [info exists ::config_dict] } {
  ::scobj::tank::read_config
} else {
  ::scobj::tank::sics_log 5 "No config dict"
}