# Some useful functions for SICS configuration.

# $Revision: 1.3 $
# $Date: 2006-10-15 23:36:36 $
# Author: Ferdi Franceschini (ffr@ansto.gov.au)
# Last revision by $Author: ffr $

# Utility fucntion for setting the home and upper and lower
# limits for a motor
proc setHomeandRange {args} {
set usage "
Usage: setHomeandRange -motor motName -home homeVal -lowrange low -uprange high
eg
setHomeandRange -motor mchi -home 90 -lowrange 5 -uprange 7
this sets the home position to 90 degreess for motor mchi
with the lower limit at 85 and the upper limit at 97
"
if {$args == ""} {clientput $usage; return}
  array set params $args
  set motor $params(-motor) 
  set home $params(-home)
  set lowlim [expr $home - $params(-lowrange)]
  set uplim [expr $home + $params(-uprange)]

  uplevel 1 "$motor hardlowerlim $lowlim"
  uplevel 1 "$motor hardupperlim $uplim"
  uplevel 1 "$motor softlowerlim $lowlim"
  uplevel 1 "$motor softupperlim $uplim"
  uplevel 1 "$motor home $home"
}

# Use this to create an array of named parameters to initialise motors.
proc params {args} {
  upvar 1 "" x;
  if [info exists x] {unset x}
  foreach {k v} $args {set x([string tolower $k]) $v}
}

# Parse motor readings for virtual motor scripts.
proc SplitReply { text } {
     set l [split $text =]
     return [lindex $l 1]
}

# Sets motor position reading to pos by adjusting the softzero
proc setpos {motor pos} {
    set currPos [SplitReply [$motor]]
    set oldZero [SplitReply [$motor softzero]]
    set newZero [expr $currPos - $pos + $oldZero]
    uplevel #0 "$motor softzero $newZero"
}
publish setpos user
publish SplitReply user