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 RadCollBiScan

# SetRadColl
command SetRadColl {
float time
float range
} {
catch {
#ffr Changed 0.5 to 0.2 on 30/06/2014 because
#    oct hits upper limit switch at about 1.27 degrees
#    with new "oct oscillate" command.
#dcl Removed 0.2 because old osc limits it to +/-1.0
   oct oscillate_low [expr -abs($range/2.0)]
   oct oscillate_high [expr abs($range/2.0)]

   set spd [expr 2.0*$range / $time]
   oct maxretry 5
   oct accel 0.25
   oct speed 0.25
   oct decel 0.25
   drive oct [expr abs($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
} {

   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
} {

   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
} {

   histmem mode unlimited
   newfile HISTOGRAM_XY
   for {set i 0} {$i < $reps} {incr i} {
        oct oscillate_count $oscno
        oct oscillate start
 	hmm countblock
      	save $i
   }
}

# 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} {
        oct oscillate_count $oscno
        oct oscillate start
 	histmem start block
	save $i
	incr i
	set tim2 [expr [clock seconds] - $tim1]
        if {$tim2 > $timsecs} {set bool 1}
   }
}

# RadCollScan
command RadCollScan {
text=drivable motor
float start
float step
int=1:inf numsteps
int=1:inf oscno
} {
   histmem mode unlimited
   newfile HISTOGRAM_XY
   for {set i 0} {$i < $numsteps} {incr i} {
      drive $motor [expr $i*$step+$start]
      oct oscillate_count $oscno
      oct oscillate start
      hmm countblock
      save $i
   }
}





}
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
}


# RadCollScanRange
proc RadCollScanRange {motor start step fin oscno} {
   if {$step==0} {break}
   if {($start > $fin) && ($step > 0)} {break}
   if {($start < $fin) && ($step < 0)} {break}
   set i_bool 0
   histmem mode unlimited
   set currentmot $start
   set i 0
   newfile HISTOGRAM_XY
   while {$i_bool==0} {
      drive $motor $currentmot
      $motor send SH`
      oct oscillate_count $oscno
      oct oscillate start
      hmm countblock

      set currentmot [expr {$currentmot + $step}]
      if {($step > 0) && ($currentmot > $fin)} {set i_bool 1}
      if {($step < 0) && ($currentmot < $fin)} {set i_bool 1}
      if {($i_bool == 0)} {run $motor $currentmot}
      save $i
      incr i
   }
}

publish RadCollScanRange user

#RadCollScanBi
proc RadCollScanBi {motor start step fin oscno motdir} {

   set i_bool 0
   set spx -12500
   set spstep [expr {$spx * $step * $motdir}]
  histmem stop
  histmem mode unlimited

   if {$motdir == 1} {
      set currentmot $start
      set i 0
   } else {
      set currentmot $fin
      set i [expr {int(($fin-$start)/$step)}]
   }
   drive $motor $currentmot
   newfile HISTOGRAM_XY

   while {$i_bool==0} {
      oct oscillate_count $oscno
      oct oscillate start
      hmm countblock

      if {($motdir > 0)} {
	 set currentmot [expr {$currentmot + $step}]
	 if {$currentmot > $fin} {set i_bool 1}

      } else {
        set currentmot [expr {$currentmot - $step}]
        if {$currentmot < $start} {set i_bool 1}

      }

     if {($i_bool == 0)} {run $motor $currentmot}
     save $i
     if {($motdir > 0)} {incr i 1} else {incr i -1}

#      if {($i_bool == 0)} {
#	$motor send SH`
#  	$motor send PR` $spstep
#	$motor send BG`
#
#      }
#     save $i
   }
}

publish RadCollScanBi user