#
# Template driver for the Knauer BlueShadow Pump 40P
# vim: ts=8 sts=2 sw=2 expandtab autoindent smartindent nocindent
#
driver knauer_pump = {
  debug_threshold = 0;
  vendor = knauer; device = pump40p; protocol = knauer_ap;
  class = environment;
  simulation_group = environment_simulation;
#
  group dummy = {
    type = text; readable = 1; data = false; control = false; nxsave = false;
    var status = { read_command = 'STATUS?'; read_function = read_status; }
    var glp = { read_command = 'GLP?'; read_function = read_glp; property real_data = ' '; }
  }

  group pump = {
    var remote = {
      type = int;
      readable = 1; read_command = 'REMOTE?'; read_function = remote_read;
      writeable = 1; write_function = remote_write;
    }
    var state = {
      type = text;
      readable = 1;
      read_command = ' ';
      fetch_function = state_fetch;
    }
    var status = {
      type = text;
      readable = 1;
      read_command = ' ';
      fetch_function = status_fetch;
    }
    var volume_pv = {
      type = float;
      readable = 1;
      read_command = ' ';
      fetch_function = volume_fetch;
#checkrange_function = volume_reject;
      property 'units' = 'mL';
    }
    var volume_sp = {
      type = float;
      writeable = 1;
      write_command = ' ';
      write_function = volume_write;
      driveable = pump/volume_pv
        checkstatus_function = volume_checkstatus;
      halt_function = volume_halt;
      lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
      readable = 1;
      read_command = ' ';
      fetch_function = volume_checkpumping;
      property 'units' = 'mL';
    }
    var ratio_pv = {
      type = text;
      readable = 1; read_command = ' '; fetch_function = ratios_fetch;
      property 'units' = 'percent';
    }
    var ratio_sp = {
      type = text;
      writeable = 1; write_command = ' '; write_function = ratios_write; checkrange_function = ratios_check;
      property 'units' = 'percent';
    }
    var flow_pv = {
      type = float;
      readable = 1; read_command = ' '; fetch_function = flow_fetch;
      property 'units' = 'mL/min';
    }
    var flow_sp = {
      type = float;
      writeable = 1; write_command = ' '; write_function = flow_write;
      lowerlimit = 0; upperlimit = 10;
      property 'units' = 'mL/min';
    }
  }

  group stuff = {
    readable = 60;
    type = text;
    data = false; control = false; nxsave = false;
    var an_out = { read_command = 'AN_OUT?'; }
    var boardinfo = { read_command = 'BOARDINFO?'; }
    var config = { read_command = 'CONFIG?'; }
    var cprofinfo = { read_command = 'CPROFINFO?'; }
    var dout = { read_command = 'DOUT?'; }
    var error = { read_command = 'ERROR?'; }
    var errors = { read_command = 'ERRORS?'; }
    var flushpmp = { read_command = 'FLUSHPMP?'; }
    var head = { read_command = 'HEAD?'; }
    var head_par = { read_command = 'HEAD_PAR?'; }
    var identify = { read_command = 'IDENTIFY?'; }
    var lpg = { read_command = 'LPG?'; }
    var oem = { read_command = 'OEM?'; }
    var opt = { read_command = 'OPT?'; }
    var plim = { read_command = 'PLIM?'; }
    var pressure = { read_command = 'PRESSURE?'; }
    var prfastacq = { read_command = 'PRFASTACQ?'; }
    var purge = { read_command = 'PURGE?'; }
    var remote = { read_command = 'REMOTE?'; }
    var rfid = { read_command = 'RFID?'; }
    var service = { read_command = 'SERVICE?'; }
    var sysinfo = { read_command = 'SYSINFO?'; }
    var 'units' = { read_command = 'UNITS?'; }
    var valves = { read_command = 'VALVES?'; }
  }
  group prog = {
    readable = 30;
    type = text;
    var line_01 = { read_command = "TT_GET:1,1"; }
    var line_02 = { read_command = "TT_GET:1,2"; }
    var line_03 = { read_command = "TT_GET:1,3"; }
    var line_04 = { read_command = "TT_GET:1,4"; }
    var line_05 = { read_command = "TT_GET:1,5"; }
  }
  group glp = {
    type = text;
    readable = 1;
    fetch_function = fetch_from_glp;
    var board_time = { read_command = '0'; }
    var motor_time = { read_command = '1'; }
    var head_count = { read_command = '3'; }
    var head_time = { read_command = '4'; }
    var head_volm = { read_command = '5'; }
    var head_voln = { read_command = '6'; }
    var head_pwrhi = { read_command = '7'; }
    var head_pwrlo = { read_command = '8'; }
    var pump_revs = { read_command = '9'; }
    var pump_volm = { read_command = '10'; }
    var pump_voln = { read_command = '11'; }
    var pump_pwrhi = { read_command = '12'; }
    var pump_pwrlo = { read_command = '13'; }
  }
  group status = {
    type = text;
    readable = 1;
    fetch_function = fetch_from_status;
    var state = { read_command = '1'; }
    var cur_error = { read_command = '2'; }
    var cur_run_time = { read_command = '3'; }
    var flow_rate = { read_command = '4'; }
    var lpg_0 = { read_command = '5'; }
    var lpg_1 = { read_command = '6'; }
    var lpg_2 = { read_command = '7'; }
    var lpg_3 = { read_command = '8'; }
    var evt_0 = { read_command = '9'; }
    var evt_1 = { read_command = '10'; }
    var evt_2 = { read_command = '11'; }
    var evt_3 = { read_command = '12'; }
    var evt_4 = { read_command = '13'; }
    var evt_5 = { read_command = '14'; }
    var evt_6 = { read_command = '15'; }
    var evt_7 = { read_command = '16'; }
    var cur_pres = { read_command = '17'; }
    var start_in = { read_command = '18'; }
    var error_in = { read_command = '19'; }
  }

  code fetch_from_glp = {%%
    set index ${cmd_str}
    set data [hgetpropval ${tc_root}/dummy/glp real_data]
    set dlist [split ${data} ","]
    if { [llength ${dlist}] > ${index} } {
      sct result [lindex ${dlist} ${index}]
    } else {
      sct result ""
    }
    set cmd "@@NOSEND@@"
  %%}

  code fetch_from_status = {%%
    set index ${cmd_str}
    set data [hgetpropval ${tc_root}/dummy/status real_data]
    set dlist [split ${data} ","]
    if { [llength ${dlist}] > ${index} } {
      sct result [lindex ${dlist} ${index}]
    } else {
      sct result ""
    }
    set cmd "@@NOSEND@@"
  %%}

  code read_glp = {%%
    if { [string equal -nocase -length 6 ${data} "ERROR:"] } {
    } else {
      set dlist [split [lindex [split ${data} ":"] 1] ","]
      sct real_data "[join [lrange ${dlist} 0 end] ,]"
      set data "Hidden in real_data property"
    }
  %%}
  code read_status = {%%
    set dlist [split [lindex [split ${data} ":"] 1] ","]
    sct real_data "[join [lrange ${dlist} 0 end] ,]"
    set data "Hidden in real_data property"
  %%}
  code status_fetch = {%%
    set index 1
    set data [hgetpropval ${tc_root}/dummy/status real_data]
    set dlist [split ${data} ","]
    set status_code [lindex ${dlist} ${index}]
    set cmd "@@NOSEND@@"
    if { ${status_code} == 3 } {
      sct result "PUMPING"
    } else {
      sct result "IDLE"
    }
  %%}
  code state_fetch = {%%
    set index 1
    set data [hgetpropval ${tc_root}/dummy/status real_data]
    set dlist [split ${data} ","]
    set state_code [lindex ${dlist} ${index}]
    set cmd "@@NOSEND@@"
    if { ${state_code} < 0 || ${state_code} > 9 } {
      sct geterror "Invalid device_state ${state_code}"
      error "[sct geterror]"
    }
    set slist [list "SYS_ST_INITIALIZING" \
        "SYS_ST_OFF" \
        "SYS_ST_IDLE" \
        "SYS_ST_RUN" \
        "SYS_ST_HOLD" \
        "SYS_ST_PURGE" \
        "SYS_ST_STANDBY" \
        "SYS_ST_FAILED" \
        "SYS_ST_RUNATEND" \
      ]
    sct result [lindex ${slist} ${state_code}]
  %%}

  code halt = {%%
    set rlist [hval ${tc_root}/pump/ratio_sp]
    set ratio_tgt [join [split ${rlist} /] ,]
    set cmd "RAMP:0,0,${ratio_tgt},0,0,0,0,0,0,0,0,2"
  %%}

  code flow_fetch = {%%
    set data [hgetpropval ${tc_root}/dummy/status real_data]
    set dlist [split ${data} ","]
    set flow_pv [lindex ${dlist} 4]
    sct result [expr {0.001 * ${flow_pv}}]
    set cmd "@@NOSEND@@"
  %%}
  code flow_write = {%%
    set data [sct target]
    set cmd "@@NOSEND@@"
    set nextState idle
    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
    }
  %%}

  code ratios_check = {%%
    set rlist [split ${setpoint} /]
    if { [llength ${rlist}] != 4 } {
      sct geterror "${setpoint} has [llength ${rlist}] components, needs 4"
      error [sct geterror]
    }
    set sum [expr [lindex ${rlist} 0] + [lindex ${rlist} 1] + [lindex ${rlist} 2] + [lindex ${rlist} 3]]
    if { ${sum} != 100  } {
      sct geterror "sum is ${sum}, must be 100"
      error [sct geterror]
    }
  %%}

  code ratios_fetch = {%%
    set data [hgetpropval ${tc_root}/dummy/status real_data]
    set dlist [split ${data} ","]
    set ratio_vals "[lindex ${dlist} 5]/[lindex ${dlist} 6]/[lindex ${dlist} 7]/[lindex ${dlist} 8]"
    sct result ${ratio_vals}
    set cmd "@@NOSEND@@"
  %%}
  code ratios_write = {%%
    set data [sct target]
    set cmd "@@NOSEND@@"
    set nextState idle
    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
    }
  %%}

  code remote_read = {%%
    if { [string equal -length 7 ${data} "REMOTE:"] } {
      set data [lindex [split ${data} :] 1]
    } else {
      sct geterror "bad response"
      error "[sct geterror]"
    }
  %%}

  code remote_write = {%%
    if { ${par} == 0 } {
      set cmd "LOCAL"
    } else {
      set cmd "REMOTE"
    }
  %%}
  code volume_fetch = {%%
    set data [hgetpropval ${tc_root}/dummy/glp real_data]
    set dlist [split ${data} ","]
    if { [llength ${dlist}] > 11 } {
      set pump_volm [lindex ${dlist} 10]
      set pump_voln [lindex ${dlist} 11]
      set pump_volume [expr {${pump_volm} + 0.000001 * ${pump_voln}}]
    } else {
      set pump_volume 0.0
    }
    sct raw_volume ${pump_volume}
    if { [hpropexists [sct] base_volume] } {
      set pump_volume [expr {${pump_volume} - [sct base_volume]}]
    } elseif { [hpropexists [sct] raw_volume] } {
      sct base_volume [sct raw_volume]
    }
    sct result [format "%.2f" ${pump_volume}]
    set cmd "@@NOSEND@@"
  %%}
  code volume_write = {%%
    hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
    hset ${tc_root}/[sct driveable] 0.0
    set flow_tgt [expr {int(1000.0 * [hval ${tc_root}/pump/flow_sp])}]
    set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
    set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,3"
    sct pumping 1
    set data ${par}
    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
    }
  %%}

  code volume_checkpumping = {%%
    set cmd "@@NOSEND@@"
    set nextState idle
    if { [hpropexists [sct] pumping] && [sct pumping] } {
      if { [hpropexists [sct] driving] && [sct driving] } {
        volume_checkstatus "${tc_root}"
      }
      set sp "[sct target]"
      set pv "[hval ${tc_root}/[sct driveable]]"
      if { (${sp} - ${pv}) <= [sct tolerance] } {
        set flow_tgt 0
        set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
        set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
        set nextState noResponse
        sct driving 0
        sct pumping 0
      }
    }
  %%}

  code volume_halt = {%%
    set flow_tgt 0
    set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
    set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
    sct send ${cmd}
  %%}

  code volume_reject = {%%
    sct geterror "cannot use hset on [sct]"
    error "[sct geterror]"
  %%}
}