source $cfPath(commands)/commands_common.tcl

namespace eval motor {
# is_homing_list = comma separated list of motors which are safe to send "home"
    variable is_homing_list ""
}

namespace eval ajscmds {
namespace export SetRadColl SimpleRun SimpleScan RadCollRun RadCollTimed RadCollScan

# SetRadColl
command SetRadColl {
float time
float range
} {
catch {
   set spd [expr 2.0*$range / $time]
   oct softlowerlim [expr -abs($range/2.0) - 0.5]
   oct softupperlim [expr abs($range/2.0) + 0.5]
   oct maxretry 5
   oct accel 0.25
   oct speed 0.25
   oct decel 0.25
   drive oct [expr abs($range/2.0)]
   oct speed $spd
   oct accel [expr $spd*5]
   oct decel [expr $spd*5]
   oct maxretry 0
} msg
clientput $msg
}
# SimpleRun
command SimpleRun {
float=0:inf steptime
int=1:inf numsteps
} {
  
#   RadCollOff
   histmem mode time
   histmem preset $steptime
   newfile HISTOGRAM_XY
   for {set i 0} {$i < $numsteps} {incr i} {
      hmm countblock
      save $i
   }
}
# SimpleScan
command SimpleScan {
text=drivable motor
float start
float step
int=1:inf numsteps
float=0:inf steptime
} {

#  RadCollOff
   histmem mode time
   histmem preset $steptime
   newfile HISTOGRAM_XY
   for {set i 0} {$i < $numsteps} {incr i} {
      drive $motor [expr $i*$step+$start]
      hmm countblock
      save $i
   }
}
# RadCollRun
command RadCollRun {
int=1:inf oscno
int=1:inf reps
} {
   
#   RadCollOn $oscno
   histmem mode unlimited
   newfile HISTOGRAM_XY
   for {set i 0} {$i < $reps} {incr i} {
        oscmd start $oscno
 	hmm countblock
      	save $i
   }
   oscmd stop
#  RadCollOff
}
# RadCollTimed
command RadCollTimed {
int=1:inf oscno
float=0:inf time
} {

   RadCollOn $oscno
   set tim1 [clock seconds]
   histmem mode unlimited
   newfile HISTOGRAM_XY
   set bool 0
   set i 0
   set timsecs [expr $time*60]
   while {$bool == 0} {
 	histmem start block
	save $i
	incr i
	set tim2 [expr [clock seconds] - $tim1]
        if {$tim2 > $timsecs} {set bool 1}
   }
   RadCollOff
}
# RadCollScan 
command RadCollScan {
text=drivable motor
float start
float step
int=1:inf numsteps
int=1:inf oscno
} {

#  RadCollOn $oscno
   histmem mode unlimited
   newfile HISTOGRAM_XY
   for {set i 0} {$i < $numsteps} {incr i} {
      drive $motor [expr $i*$step+$start]
      oscmd start $oscno
      hmm countblock
      save $i
   }
#  RadCollOff
   oscmd stop
}
}
namespace import ::ajscmds::*
publish SetRadColl user
publish SimpleRun user
publish SimpleScan user
publish RadCollRun user
publish RadCollTimed user
publish RadCollScan user

proc ::commands::isc_initialize {} {
  ::commands::ic_initialize
}