# Temperature Controller driver - Watlow RM
# Author Douglas Clowes (dcl@ansto.gov.au)
# Based on the Watlow PM driver
# Define procs in ::scobj::xxx namespace
# MakeSICSObj $obj SCT_<class>
#  The MakeSICSObj cmd adds a /sics/$obj node.  NOTE the /sics node is not browsable.


namespace eval ::scobj::watlow_rm {
# Temperature controllers must have at least the following nodes
# /tempcont/setpoint
# /tempcont/sensor/value
  proc debug_log {args} {
    set fd [open "/tmp/watlow_rm.log" a]
    puts $fd "[clock format [clock seconds] -format "%T"] $args"
    close $fd
  }

  proc f_to_c { f_temp } {
    return [expr ($f_temp - 32.0) * (5.0 / 9.0)]
  }

  proc c_to_f { c_temp } {
    return [expr $c_temp * (9.0 / 5.0) + 32.0]
  }

# issue a command to read a register and expect a value response
  proc getValue {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    sct send "$dev:3:$cmd"
    return $nextState
  }

# issue a command with a value in the target property of the variable
  proc setValue {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    set par [sct target]
    sct send "$dev:16:$cmd $par"
debug_log "setValue $dev:16:$cmd $par"
    return $nextState
  }

  proc rdValue {tc_root} {
    set data [sct result]
    switch -glob -- $data {
      "ASCERR:*" {
        sct geterror $data
      }
      default {
        if { [hpropexists [sct] geterror] } {
          hdelprop [sct] geterror
        }
        if {$data  != [sct oldval]} {
          sct oldval $data
          sct update $data
          sct utime readtime
        }
      }
    }
    return idle
  }

# write a floating point value
  proc setFloat {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    set par [sct target]
    sct send "$dev:1016:$cmd $par"
    debug_log "setFloat $dev:1016:$cmd $par"
    return $nextState
  }

# request a floating point value
  proc getFloat {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    sct send "$dev:1003:$cmd"
    return $nextState
  }

# read a floating point value
  proc rdFloat {tc_root} {
    set data [sct result]
    switch -glob -- $data {
      "ASCERR:*" {
        sct geterror $data
      }
      default {
        if { [hpropexists [sct] geterror] } {
          hdelprop [sct] geterror
        }
        if {$data  != [sct oldval]} {
          sct oldval $data
          sct update $data
          sct utime readtime
        }
      }
    }
    return idle
  }

# write a floating point value as a temperature
  proc setTemp {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    set par [sct target]
    #set par [c_to_f $par]
    sct send "$dev:1016:$cmd $par"
    debug_log "setTemp $dev:1016:$cmd $par"
    return $nextState
  }

# request a floating point value as a temperature
  proc getTemp {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    sct send "$dev:1003:$cmd"
    return $nextState
  }

# read a floating point value as a temperature
  proc rdTemp {tc_root} {
    set data [sct result]
    #set data [f_to_c $data]
    switch -glob -- $data {
      "ASCERR:*" {
        sct geterror $data
      }
      default {
        if { [hpropexists [sct] geterror] } {
          hdelprop [sct] geterror
        }
        if {$data  != [sct oldval]} {
          sct oldval $data
          sct update $data
          sct utime readtime
        }
      }
    }
    return idle
  }

  proc getState {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    sct send "$dev:3:$cmd"
    return $nextState
  }

  ##
  # @brief Reads the current watlow state and error messages.
  proc rdState {tc_root} {
    set my_driving [SplitReply [hgetprop $tc_root/setpoint driving]]
    debug_log "rdState $tc_root: driving=$my_driving"
    set val [hval $tc_root/setpoint]
    debug_log "rdState $tc_root: setpoint=$val"
    if {[hpropexists $tc_root/setpoint target]} {
      set tgt [SplitReply [hgetprop $tc_root/setpoint target]]
      debug_log "rdState $tc_root: target=$tgt"
    } else {
      hsetprop $tc_root/setpoint target $val
      set tgt [SplitReply [hgetprop $tc_root/setpoint target]]
      debug_log "rdState $tc_root: initialised target to: target=$tgt"
    }
    if {$my_driving > 0} {
      set temp [hval $tc_root/sensor/value]
      set tol [hval $tc_root/tolerance]
      set lotemp [expr {$tgt - $tol}]
      set hitemp [expr {$tgt + $tol}]
      debug_log "rdState driving $tc_root until $temp in ($lotemp, $hitemp)"
      if {$temp < $lotemp} {
      } elseif {$temp > $hitemp} {
      } else {
        hset $tc_root/status "idle"
        hsetprop $tc_root/setpoint driving 0
      }
    } else {
      if {[hval $tc_root/status] != "idle"} {
        hset $tc_root/status "idle"
      }
    }
    set data [SplitReply [hgetprop $tc_root/setpoint driving]]
    debug_log "rdState $tc_root: result=$data"
    if {[string first "ASCERR:" $data] >=0} {
      sct geterror $data
    } elseif {$data  != [sct oldval]} {
      sct oldval $data
      sct update $data
      sct utime readtime
    }
    return idle
  }

  proc getHP {tc_root nextState cmd} {
    set data [hval $tc_root/Loop1/power]
    if {$data  != [sct oldval]} {
      sct oldval $data
      sct update $data
      sct utime readtime
    }
    debug_log "getHP $tc_root $nextState $cmd [sct] $data"
    return idle
  }

  proc getPV {tc_root nextState cmd} {
    set data [hval $tc_root/Loop1/sensor]
    if {$data  != [sct oldval]} {
      sct oldval $data
      sct update $data
      sct utime readtime
    }
    debug_log "getPV $tc_root $nextState $cmd [sct] $data"
    return idle
  }

  proc getSP {tc_root nextState cmd} {
    set data [hval $tc_root/Loop1/setpoint]
    if {$data  != [sct oldval]} {
      sct oldval $data
      sct update $data
      sct utime readtime
    }
    debug_log "getSP $tc_root $nextState $cmd [sct] $data"
    return idle
  }

  proc setSP {tc_root nextState cmd} {
    debug_log "setSP $tc_root $nextState $cmd [sct]=[sct target] [hget [sct]]"
    hset $tc_root/Loop1/setpoint [sct target]
    return idle
  }
  
  proc setPoint {tc_root nextState cmd} {
    set dev "[hval $tc_root/dev_id]"
    set par [sct target]

    if {[sct writestatus] == "start"} {
    # Called by drive adapter
      hset $tc_root/status "busy"
      hsetprop $tc_root/setpoint driving 1
    }
    set par [c_to_f $par]
    sct send "$dev:1016:$cmd $par"
debug_log "setPoint $dev:1016:$cmd $par"
    return $nextState
  }

  proc noResponse {} {
    return idle
  }
  proc wrtValue {wcmd args} {
  }

# check that a target is within allowable limits
  proc check {tc_root} {
    set setpoint [sct target]
    set lolimit [hval $tc_root/lowerlimit]
    set hilimit [hval $tc_root/upperlimit]
    if {$setpoint < $lolimit || $setpoint > $hilimit} {
      error "setpoint violates limits"
    }
    return OK
  }

# Check that the sensor is reading within tolerance of the setpoint.
# Return 1 or 0 if it is or is not, respectively.
  proc checktol {tc_root currtime timecheck} {
debug_log "checktol $tc_root $currtime $timecheck"
    set temp [hval $tc_root/sensor/value]
    set lotemp [hval $tc_root/subtemp_warnlimit]
    set hitemp [hval $tc_root/overtemp_warnlimit]
    if { $temp < $lotemp || $temp > $hitemp} {
      hset $tc_root/emon/isintol 0
      return 0
    } else {
      set timeout [hval $tc_root/tolerance/settletime]
      if { ($currtime - $timecheck) > $timeout } {
        hset $tc_root/emon/isintol 1
      }
      return 1
    }
  }

##
# @brief Implement the checkstatus command for the drivable interface
#
# NOTE: The drive adapter initially sets the writestatus to "start" and will
# only call this when writestatus!="start"
  proc drivestatus {tc_root} {
    if {[sct driving]} {
      return busy
    } else {
      sct print "drivestatus: idle"
      return idle
    }
  }

  proc halt {tc_root} {
debug_log "halt $tc_root"
    hset $tc_root/setpoint [hval $tc_root/sensor/value]
    hsetprop $tc_root/setpoint driving 0
    return idle
  }

##
# @brief createNode() creates a node for the given nodename with the properties and virtual
# function names provided
# @param scobj_hpath    string variable holding the path to the object's base node in sics (/sample/tc1)
# @param sct_controller name of the scriptcontext object (typically sct_xxx_yyy)
# @param cmdGroup       subdirectory (below /sample/tc*/) in which the node is to be created
# @param varName        name of the actual node typically representing one device command
# @param readable       set to 1 if the node represents a query command, 0 if it is not
# @param writable       set to 1 if the node represents a request for a change in settings sent to the device
# @param drivable       if set to 1 it prepares the node to provide a drivable interface
# @param dataType       data type of the node, must be one of none, int, float, text
# @param permission     defines what user group may read/write to this node (is one of spy, user, manager)
# @param rdCmd          actual device query command to be sent to the device
# @param rdFunc         nextState Function to be called after the getValue function, typically rdValue()
# @param wrCmd          actual device write command to be sent to the device
# @param wrFunc         Function to be called to send the wrCmd to the device, typically setValue()
# @param allowedValues  allowed values for the node data - does not permit other
# @param klass          Nexus class name (?)
# @return               OK
proc createNode {scobj_hpath sct_controller cmdGroup varName readable writable\
  drivable dataType permission rdCmd rdFunc wrCmd\
  wrFunc allowedValues klass} {

  set catch_status [ catch {
#   set ns ::scobj::ls460
    set ns "[namespace current]"
    set nodeName "$scobj_hpath/$cmdGroup/$varName"
    if {1 > [string length $cmdGroup]} {
      set nodeName "$scobj_hpath/$varName"
    }
    debug_log "Creating node $nodeName"
    hfactory $nodeName plain $permission $dataType
    if {$readable > 0} {
      set parts [split "$rdFunc" "."]
      if { [llength $parts] == 2 } {
        set func_name [lindex $parts 0]
        set next_state [lindex $parts 1]
        hsetprop $nodeName read ${ns}::$func_name $scobj_hpath $next_state $rdCmd
        hsetprop $nodeName $next_state ${ns}::$next_state $scobj_hpath
      } else {
        if {$rdFunc == "getPV"} {
          set func_name "$rdFunc"
        } elseif {$rdFunc == "getSP"} {
          set func_name "$rdFunc"
        } elseif {$rdFunc == "getHP"} {
          set func_name "$rdFunc"
        } elseif {$rdFunc == "rdFloat"} {
          set func_name "getFloat"
        } elseif {$rdFunc == "rdTemp"} {
          set func_name "getTemp"
        } else {
          set func_name "getValue"
        }
        hsetprop $nodeName read ${ns}::$func_name $scobj_hpath $rdFunc $rdCmd
        hsetprop $nodeName $rdFunc ${ns}::$rdFunc $scobj_hpath
      }
      set poll_period 30
      if { $readable >= 0 && $readable <= 9 } {
        set poll_period [lindex [list 0 1 2 3 4 5 10 15 20 30] $readable]
      }
      debug_log "Registering node $nodeName for poll at $poll_period seconds"
      $sct_controller poll $nodeName $poll_period
    }
    if {$writable == 1} {
      set parts [split "$wrFunc" "."]
      if { [llength $parts] == 2 } {
        set func_name [lindex $parts 0]
        set next_state [lindex $parts 1]
        hsetprop $nodeName write ${ns}::$func_name $scobj_hpath $next_state $wrCmd
        hsetprop $nodeName $next_state ${ns}::$next_state $scobj_hpath
      } else {
        hsetprop $nodeName write ${ns}::$wrFunc $scobj_hpath noResponse $wrCmd
        hsetprop $nodeName noResponse ${ns}::noResponse
      }
      hsetprop $nodeName writestatus UNKNOWN
      debug_log "Registering node $nodeName for write callback"
      $sct_controller write $nodeName
    }
    switch -exact $dataType {
      "none"  { }
      "int"   { hsetprop $nodeName oldval -1 }
      "float" { hsetprop $nodeName oldval -1.0 }
      default { hsetprop $nodeName oldval UNKNOWN }
    }
    if {1 < [string length $allowedValues]} {
      hsetprop $nodeName values $allowedValues
    }
    #        Drive adapter interface
    if {$drivable == 1} {
      hsetprop $nodeName check ${ns}::check $scobj_hpath
      hsetprop $nodeName driving 0
      hsetprop $nodeName checklimits ${ns}::check $scobj_hpath
      hsetprop $nodeName checkstatus ${ns}::drivestatus $scobj_hpath
      hsetprop $nodeName halt ${ns}::halt $scobj_hpath
    }
  } message ]
  if {$catch_status != 0} {
    return -code error "in createNode $message"
  }
  return OK
}

  proc mk_sct_watlow_rm {sct_controller klass tempobj dev_id tol} {
    set catch_status [ catch {
      set ns "[namespace current]"

      MakeSICSObj $tempobj SCT_OBJECT
      sicslist setatt $tempobj klass $klass
      sicslist setatt $tempobj long_name $tempobj

      set scobj_hpath /sics/$tempobj

      # 
      # These addresses are modbus addresses on the RUI/gateway over two devices
      # The RMC is at address 1 and the modbus offset on the RUI for gateway 1
      # is zero, so these addresses are as specified in the manual.
      # The RMS is at address 2 and the modbus offset on the RUI for gateway 1
      # is 5000, so these addresses have 5000 added to those specified in the manual.
      #
      set deviceCommand {\
        {}       setpoint        1 1 1 float user     {0}        {getSP}        {0}                {setSP}    {}\
        sensor   value           1 0 0 float internal {0}        {getPV}        {0}                {}         {}\
        {}       power           1 0 0 float internal {0}        {getHP}        {0}                {}         {}\
        Loop1    setpoint        1 1 0 float user     {2500}     {rdTemp}       {2500}             {setTemp}  {}\
        Loop1    sensor          1 0 0 float internal {3430}     {rdTemp}       {3430}             {}         {}\
        Loop1    PV              1 0 0 float internal {3442}     {rdTemp}       {3442}             {}         {}\
        Loop1    power           1 0 0 float internal {2248}     {rdFloat}      {2248}             {}         {}\
        Loop1    sensorerror     1 0 0 int   internal {3452}     {rdValue}      {3452}             {}         {}\
        Loop1    looperror       1 0 0 int   internal {2268}     {rdValue}      {2268}             {}         {}\
        Analog   Input01         1 0 0 float internal {360}      {rdTemp}       {360}              {}         {}\
        Analog   Input02         1 0 0 float internal {450}      {rdTemp}       {450}              {}         {}\
        Analog   Input03         1 0 0 float internal {5380}     {rdTemp}       {5380}             {}         {}\
        Analog   Input04         1 0 0 float internal {5470}     {rdTemp}       {5470}             {}         {}\
        Analog   Input05         1 0 0 float internal {5560}     {rdTemp}       {5560}             {}         {}\
        Analog   Input06         1 0 0 float internal {5650}     {rdTemp}       {5650}             {}         {}\
        Analog   Input07         1 0 0 float internal {5740}     {rdTemp}       {5740}             {}         {}\
        Analog   Input08         1 0 0 float internal {5830}     {rdTemp}       {5830}             {}         {}\
        Analog   Input09         1 0 0 float internal {5920}     {rdTemp}       {5920}             {}         {}\
        Analog   Input10         1 0 0 float internal {6010}     {rdTemp}       {6010}             {}         {}\
      }

      hfactory $scobj_hpath/sensor plain spy none
      hfactory $scobj_hpath/Analog plain spy none
      hfactory $scobj_hpath/Loop1 plain spy none

      foreach {cmdGroup varName readable writable drivable dataType permission rdCmd rdFunc wrCmd wrFunc allowedValues} $deviceCommand {
        createNode $scobj_hpath $sct_controller $cmdGroup $varName $readable $writable $drivable $dataType $permission $rdCmd $rdFunc $wrCmd $wrFunc $allowedValues $klass
      }

      hsetprop $scobj_hpath/sensor/value lowerlimit 0
      hsetprop $scobj_hpath/sensor/value upperlimit 500
      hsetprop $scobj_hpath/sensor/value units "C"

      hfactory $scobj_hpath/apply_tolerance plain user int
      hsetprop $scobj_hpath/apply_tolerance values 0,1
      hset     $scobj_hpath/apply_tolerance 1

      hfactory $scobj_hpath/dev_id plain user int
      hsetprop $scobj_hpath/dev_id values 0,1,2,3,4,5,6,7,8,9
      hset     $scobj_hpath/dev_id $dev_id

      hfactory $scobj_hpath/tolerance plain user float
      hsetprop $scobj_hpath/tolerance units "C"
      hfactory $scobj_hpath/tolerance/settletime plain user float
      hset     $scobj_hpath/tolerance/settletime 5.0
      hsetprop $scobj_hpath/tolerance/settletime units "s"
      hset     $scobj_hpath/tolerance $tol

      hfactory $scobj_hpath/status plain spy text
      hset     $scobj_hpath/status "idle"
      hsetprop $scobj_hpath/status values busy,idle

      hfactory $scobj_hpath/device_state plain spy text
      hsetprop $scobj_hpath/device_state read ${ns}::getState $scobj_hpath rdState "362"
      hsetprop $scobj_hpath/device_state rdState ${ns}::rdState $scobj_hpath
      hsetprop $scobj_hpath/device_state oldval UNKNOWN

      hfactory $scobj_hpath/remote_ctrl plain spy text
      hset     $scobj_hpath/remote_ctrl UNKNOWN

      hfactory $scobj_hpath/device_lasterror plain user text
      hset     $scobj_hpath/device_lasterror ""

      hfactory $scobj_hpath/lowerlimit plain mugger float
      hsetprop $scobj_hpath/lowerlimit units "C"
      hset     $scobj_hpath/lowerlimit 0

      hfactory $scobj_hpath/upperlimit plain mugger float
      hsetprop $scobj_hpath/upperlimit units "C"
      hset     $scobj_hpath/upperlimit 500

      hfactory $scobj_hpath/emon plain spy none
      hfactory $scobj_hpath/emon/monmode plain user text
      hsetprop $scobj_hpath/emon/monmode values idle,drive,monitor,error
      hset     $scobj_hpath/emon/monmode "idle"
      hfactory $scobj_hpath/emon/isintol plain user int
      hset     $scobj_hpath/emon/isintol 1
      hfactory $scobj_hpath/emon/errhandler plain user text
      hset     $scobj_hpath/emon/errhandler "pause"

      if {[SplitReply [environment_simulation]]=="false"} {
        $sct_controller poll $scobj_hpath/device_state 1 halt read
      }

      ::scobj::hinitprops $tempobj
      hsetprop $scobj_hpath klass NXenvironment
      ::scobj::set_required_props $scobj_hpath
      foreach {rootpath hpath klass priv} "
        $scobj_hpath sensor         NXsensor    spy
        $scobj_hpath sensor/value   sensor   user
      " {
        hsetprop $rootpath/$hpath klass $klass
        hsetprop $rootpath/$hpath privilege $priv
        hsetprop $rootpath/$hpath control true
        hsetprop $rootpath/$hpath data true
        hsetprop $rootpath/$hpath nxsave true
      }
    hsetprop $scobj_hpath type part
    hsetprop $scobj_hpath/sensor type part
    hsetprop $scobj_hpath/sensor/value nxalias tc1_sensor_value
    hsetprop $scobj_hpath/sensor/value mutable true
    hsetprop $scobj_hpath/sensor/value sdsinfo ::nexus::scobj::sdsinfo

      hsetprop $scobj_hpath privilege spy
      ::scobj::hinitprops $tempobj setpoint
      hsetprop $scobj_hpath/setpoint data true
      if {[SplitReply [environment_simulation]]=="false"} {
        ansto_makesctdrive ${tempobj}_driveable $scobj_hpath/setpoint $scobj_hpath/sensor/value $sct_controller
      }
    } catch_message ]
    if {$catch_status != 0} {
      return -code error $catch_message
    }
  }
  namespace export mk_sct_watlow_rm
}

##
# @brief Create a Watlow RM temperature controller
#
# @param name, the name of the temperature controller (eg tc1)
# @param IP, the IP address of  the device, this can be a hostname, (eg ca5-kowari)
# @param port, the IP protocol port number of the device (502 for modbus)
# @param _tol (optional), this is the initial tolerance setting
proc add_watlow_rm {name IP port dev_id {_tol 5.0}} {
  set fd [open "/tmp/watlow_rm.log" a]
  if {[SplitReply [environment_simulation]]=="false"} {
    puts $fd "makesctcontroller sct_${name} modbus ${IP}:$port"
    makesctcontroller sct_${name} modbus ${IP}:$port
  }
  puts $fd "mk_sct_watlow_rm sct_${name} environment $name $dev_id $_tol"
  mk_sct_watlow_rm sct_${name} environment $name $dev_id $_tol
  puts $fd "makesctemon $name /sics/$name/emon/monmode /sics/$name/emon/isintol /sics/$name/emon/errhandler"
  makesctemon $name /sics/$name/emon/monmode /sics/$name/emon/isintol /sics/$name/emon/errhandler
  close $fd
}

puts stdout "file evaluation of sct_watlow_rm.tcl"
set fd [open "/tmp/watlow_rm.log" w]
puts $fd "file evaluation of sct_watlow_rm.tcl"
close $fd

namespace import ::scobj::watlow_rm::*

#add_watlow_rm watlow_rm 137.157.201.213 502 1 5
#add_watlow_rm watlow_rm localhost 30502 1 5