driver pfeiffer_hg = {
  vendor = pfeiffer; device = hg; protocol = std; class = environment; simulation_group = environment_simulation;

  Group = {
    var status = { type = int; }
  }

  Group pressure = {
    priv = user; type = float;

    var sensor = {
      readable = 1;
      permlink = 'P.S01';
      read_command = 'PR1'; fetch_function = sendPR1; read_function = readPR1;
      pid_function = pid_pressure;
      property pid_error = 0 property pid_deriv = 0 property pid_integ = 0
      property pid_pvalue = 0.2 property pid_ivalue = 0.1 property pid_dvalue = 0.0
      property pid_imax = 30
      property pid_setpoint = 'pressure/setpoint'
      property pid_control = '/sample/tc9/Valve/Setpoint'
    }

    var setpoint = {
      permlink = 'P.SP01';
      writeable = 1; write_function = setPoint; write_command = '@';
      driveable = 'pressure/sensor'; lowerlimit = 0; upperlimit = 1000; tolerance = 100; property settle_time = 90;
    }
  }

  code pid_function pid_pressure = {
@    if { [hpropexists [sct] pid_control] } {
@      set co [hgetpropval [sct] pid_control]
@      if { !([hpropexists ${co} pid_bias] && [hgetpropval ${co} pid_bias] == ${pid}) } {
@        hsetprop ${co} pid_bias ${pid}
@        if { [hpropexists ${co} target] } {
@          hset ${co} [hgetpropval ${co} target]
@        } else {
@          hset ${co} [hval ${co}]
@        }
@      }
@    }
  }

  code read_function ack_enq = {
@    if {[string equal -nocase -length 1 ${data} "\x06"]} {
@      debug_log ${tc_root} 1 "ack_enq received ACK, send ENQ"
@      sct send "\x05"
@    }
@    return "readPR1"
  }

  code read_function readPR1 = {
@    set val [string range $data 3 12]
@    set status [string range $data 0 0]
@    set data ${val}
@    hupdate ${tc_root}/status $status
@    if { [hpropexists [sct] pid_control] && [hpropexists [sct] pid_setpoint] } {
@      set sp [hval ${tc_root}/[sct pid_setpoint]]
@      set pv $val
@      pid_pressure ${tc_root} ${sp} ${pv}
@    }
  }

  code write_function setPoint = {
@    sct pid_control /sample/tc9/Valve/Setpoint
@    sct update [sct target]
@    set cmd "@@NOSEND@@"
@    set nextState "idle"
  }

  code mkDriver = {
@    hsetprop ${scobj_hpath}/pressure/sensor read ${ns}::sendPR1 ${scobj_hpath} ack_enq {PR1}
@    hsetprop ${scobj_hpath}/pressure/sensor ack_enq ${ns}::ack_enq ${scobj_hpath}
  }
}