# --------------------------------------------------------------------------
# Initialization script for the instrument SANSII at SINQ
#
# Dr. Mark Koennecke, January - March 2003
#
# Changes:
# Pavel Strunz, 15.04.2003: - changed backlash dz (0.15 --> 0.005)
# Pavel Strunz, 16.04.2003: - changed NVS forbiden gaps according to the actual NVS037
# Pavel Strunz, 23.04.2003: - changed backlash for all ecb motors
# Pavel Strunz, 29.04.2003: - hakle.tcl sourced
# Pavel Strunz, 20.11.2003: - source sans2geometry, sans2measurement
# Pavel Strunz, 03.12.2003: - source scan_a, sans2wavelength, nvs interrupt changed from 3 to 0
#---------------------------------------------------------------------------
#                        O P T I O N S
set root "/home/SANS2"

set scriptroot $root/sans2_sics


# first all the server options are set

ServerOption statusfile  $root/data/2003/sans2stat.tcl
# File to save the status of the instrument too

ServerOption ReadTimeOut 5 
# timeout when checking for commands. In the main loop SICS checks for
# pending commands on each connection with the above timeout, has
# PERFORMANCE impact!

ServerOption AcceptTimeOut 5 
# timeout when checking for connection req.
# Similar to above, but for connections

ServerOption ReadUserPasswdTimeout  500000
# time to wait for a user/passwd to be sent from a client. Increase this
# if there is a problem connecting to a server due to network overload\

ServerOption LogFileBaseName  $root/log/sans2log
# the path and base name of the internal server logfile to which all
# activity will be logged.

ServerOption LogFileDir $root/log
# This is where log files from command log go

ServerOption ServerPort 2911
# the port number the server is going to listen at. The client MUST know
# this number in order to connect. It is in client.ini

ServerOption InterruptPort 2917
# The UDP port where the server will wait for Interrupts from clients.
# Obviously, clients wishing to interrupt need to know this number.
# Telnet Options
ServerOption TelnetPort 1301
ServerOption TelWord sicslogin

# The token system
TokenInit connan

#---------------------------------------------------------------------------
#                        U S E R S

# than the SICS users are specified
# Syntax: SicsUser name password userRightsCode
SicsUser Manager Manager   1
SicsUser lnsmanager lnsSICSlns   1
SicsUser User    Looser    2
SicsUser sans2user   04lns1 2
SicsUser Spy     007       3

#--------------------------------------------------------------------------
#               S I M P L E     V A R I A B L E S

# now a few general variables are created
# Syntax: VarMake name type access
# type can be one of: Text, Int, Float
#access can be one of: Internal, Mugger, user, Spy

VarMake Instrument Text Internal
Instrument "SANS-II at SINQ,PSI"
#initialisation
Instrument lock

VarMake title Text User
VarMake User  Text User
VarMake SubTitle Text User
VarMake environment Text User
VarMake comment Text User
#VarMake samplename Text User
VarMake email Text User
VarMake fax   Text User
VarMake phone Text User
VarMake adress Text User
VarMake sample Text User
VarMake BatchRoot Text User
VarMake starttime Text User
BatchRoot $root
#BatchRoot $root/command

VarMake sampletable Text User

#----------- Initialize data storage stuff
VarMake SicsDataPath Text Mugger
SicsDataPath $root/data/2004/
SicsDataPath lock
VarMake SicsDataPrefix Text Mugger
SicsDataPrefix sans2
SicsDataPrefix lock
VarMake SicsDataPostFix Text Mugger
SicsDataPostFix ".hdf"
SicsDataPostFix lock
MakeDataNumber SicsDataNumber $root/data/2004/DataNumber

#=========================================================================
# Initialize ECB system
#========================================================================

#--------- GPIB Controller with National Instruments driver
MakeGPIB gpib ni

#-------- MakeECB name gpib-controller board-number gpib-address
MakeECB ecb1 gpib 0 5

#--------- Function to switch ecb to automatic control
proc ecbauto {} {
    ecb1 func 162 1 0 0 0
}
Publish ecbauto User

ecbauto

#-------------- ECB Motors
# Motor name ecb ecb-controller ecb-motor-index hardlowerlimit hardupperlimit

Motor sr ecb ecb1 1 -17500. 17500.
sr encoder 0
sr control 0
sr range 1
sr multi 0
sr multchan 0
sr acceleration 1000
sr rotation_dir -1
sr startspeed 330
sr maxspeed 1000
sr auto 330
sr manuell 50
sr delay 50
sr offset 0
sr dtolerance .01
sr step2deg 1
sr step2dig 0
sr backlash 500

Motor stx ecb ecb1 2 -16000. 16000.
stx encoder 0
stx control 0
stx range 1
stx multi 0
stx  multchan 0
stx acceleration 500
stx rotation_dir -1
stx startspeed 330
stx maxspeed 1000
stx auto 500
stx manuell 50
stx delay 50
stx offset 0
stx dtolerance .01
stx step2deg 1
stx  step2dig 0
stx  backlash 500

Motor stz ecb ecb1 3 6500. 20000.
stz encoder 0
stz control 0
stz range 1
stz multi 0
stz multchan 0
stz  acceleration 500
stz rotation_dir -1
stz startspeed 330
stz  maxspeed 1000
stz auto 500
stz  manuell 50
stz delay 50
stz offset 0
stz dtolerance .01
stz step2deg 1
stz step2dig 0
stz backlash 500

Motor sc ecb ecb1 4 -2000. 70000.
sc encoder 0
sc control 0
sc range 1
sc multi 0
sc multchan 0
sc acceleration 500
sc rotation_dir -1
sc startspeed 330
sc maxspeed 1000
sc auto 500
sc manuell 50
sc delay 50
sc offset 0
sc dtolerance .01
sc step2deg 1
sc step2dig 0
sc backlash 1000

Motor gu ecb ecb1 5 -10000. 10000.
gu encoder 0
gu control 0
gu range 1
gu multi 0
gu multchan 0
gu acceleration 500
gu rotation_dir -1
gu startspeed 330
gu maxspeed 1000
gu auto 500
gu manuell 40
gu delay 50
gu offset 0
gu dtolerance .02
gu step2deg 1
gu step2dig 0
gu backlash 100

Motor gl ecb ecb1 6 -10000. 10000.
gl encoder 0
gl control 0
gl range 1
gl multi 0
gl multchan 0
gl acceleration 500
gl rotation_dir -1
gl startspeed 330
gl maxspeed 1000
gl auto 500
gl manuell 40
gl delay 50
gl offset 0
gl dtolerance .02
gl step2deg 1
gl step2dig 0
gl backlash 100


Motor tu  ecb ecb1 7 -10000. 10000.
tu encoder 0
tu control 0
tu range 1
tu multi 0
tu multchan 0
tu acceleration 500
tu rotation_dir 1
tu startspeed 330
tu maxspeed 1000
tu auto 330
tu manuell 40
tu delay 50
tu offset 0
tu dtolerance .01
tu step2deg 1
tu step2dig 0
tu backlash 100


Motor tl  ecb ecb1 8 -10000. 10000.
tl encoder 0
tl control 0
tl range 1
tl multi 0
tl multchan 0
tl acceleration 500
tl rotation_dir 1
tl startspeed 330
tl maxspeed 1000
tl auto 330
tl manuell 40
tl delay 50
tl offset 0
tl dtolerance .01
tl step2deg 1
tl step2dig 0
tl backlash 100

Motor om  ecb ecb1 9 -10000. 10000.
om encoder 1
om control 1
om range 1
om multi 0
om multchan 0
om acceleration 500
om rotation_dir 1
om startspeed 330
om maxspeed 1000
om auto 100
om manuell 40
om delay 50
om offset 0
om dtolerance .01
om step2deg 1
om step2dig 10
om backlash 100

Motor sz  ecb ecb1 10 -10000. 10000.
sz encoder 0
sz control 0
sz range 1
sz multi 0
sz multchan 0
sz acceleration 500
sz rotation_dir 1
sz startspeed 330
sz maxspeed 1000
sz auto 500
sz manuell 40
sz delay 50
sz offset 0
sz dtolerance .001
sz step2deg 1
sz step2dig 0
sz backlash 100

Motor sx ecb ecb1 11 -10000. 10000.
sx encoder 0
sx control 0
sx range 1
sx multi 0
sx multchan 0
sx acceleration 500
sx rotation_dir 1
sx startspeed 330
sx maxspeed 1000
sx auto 500
sx manuell 40
sx delay 50
sx offset 0
sx dtolerance .01
sx step2deg 1
sx step2dig 0
sx backlash 100

Motor sy ecb ecb1 12 -10000. 10000.
sy encoder 0
sy control 0
sy range 1
sy multi 0
sy multchan 0
sy acceleration 500
sy rotation_dir 1
sy startspeed 330
sy maxspeed 1000
sy auto 500
sy manuell 50
sy delay 50
sy offset 0
sy dtolerance .001
sy step2deg 1
sy step2dig 0
sy backlash 100

Motor dz ecb ecb1 13 0.905 6.015
dz encoder 0
dz control 0
dz range 1
dz multi 0
dz multchan 0
dz acceleration 2000
dz rotation_dir -1
dz startspeed 330
dz maxspeed 1000
dz auto 500
dz manuell 40
dz delay 1000
dz offset 0
dz dtolerance .001
dz step2deg 53076
dz step2dig 0
dz backlash .005

Motor dh ecb ecb1 14 -10100. 16400.
dh encoder 0
dh control 0
dh range 1
dh multi 0
dh multchan 0
dh acceleration 1000
dh rotation_dir -1
dh startspeed 330
dh maxspeed 1000
dh auto 500
dh manuell 40
dh delay 50
dh offset 0
dh dtolerance .001
dh step2deg 1
dh step2dig 0
dh backlash 100

Motor dv ecb ecb1 15 -14600. 25400.
dv encoder 0
dv control 0
dv range 1
dv multi 0
dv multchan 0
dv acceleration 2000
dv rotation_dir -1
dv startspeed 330
dv maxspeed 1000
dv auto 500
dv manuell 40
dv delay 50
dv offset 0
dv dtolerance .001
dv step2deg 1
dv step2dig 0
dv backlash 100

Motor az1 ecb ecb1 16 -3900. 0.
az1 encoder 0
az1 control 0
az1 range 1
az1 multi 0
az1 multchan 0
az1 acceleration 1000
az1 rotation_dir -1
az1 startspeed 330
az1 maxspeed 1000
az1 auto 330
az1 manuell 40
az1 delay 50
az1 offset 0
az1 dtolerance .001
az1 step2deg 1
az1 step2dig 0
az1 backlash 200

Motor atz ecb ecb1 17 -3900. 0.
atz encoder 0
atz control 0
atz range 1
atz multi 0
atz multchan 0
atz acceleration 1000
atz rotation_dir -1
atz startspeed 330
atz maxspeed 1000
atz auto 330
atz manuell 40
atz delay 50
atz offset 0
atz dtolerance .001
atz step2deg 1
atz step2dig 0
atz backlash 200

#===========================================================================
# The ECB system has the drawback that only one out of 8 motors in a rack
# can run at any given time. Access to such motors has to be serialized.
# This is done through the anticollision system originally developed for
# TRICS. This system registers requests from motors to run and then calls
# a script which serializes the running of motors. This system is used at
# SANS to deal with the rack logic. This section installs the necessary
# scripts and configures the system.
#===========================================================================
AntiCollisionInstall
anticollision register sr
anticollision register stx
anticollision register stz
anticollision register sc
anticollision register gu
anticollision register gl
anticollision register tu
anticollision register tl
anticollision register om
anticollision register sz
anticollision register sx
anticollision register sy
anticollision register dz
anticollision register dh
anticollision register dv
anticollision register az1
anticollision register atz

#------------ assignment which motors belong into which rack
set rack1 [list sr stx sty sc gu gl tu tl]
set rack2 [list om sz sx dz dh dv az1 atz]
set rack3 [list sy]

proc sans2rack args {
    global rack1 rack2 rack3
    set length [ expr [llength $args]/2.]
#-------- make list which motors have to be run in each rack
    for { set i 0} { $i < $length} {incr i} {
	set mot [lindex $args [expr $i * 2]]
	set target [lindex $args [expr ($i *2) + 1]] 
	if { [lsearch $rack1 $mot] >= 0} {
	    lappend rack1mot $mot
	    lappend rack1target $target
        }
	if { [lsearch $rack2 $mot] >= 0} {
	    lappend rack2mot $mot
	    lappend rack2target $target
        }
	if { [lsearch $rack3 $mot] >= 0} {
	    lappend rack3mot $mot
	    lappend rack3target $target
        }
    }
#------- append a dummy to each in order to ensure existence
    lappend rack1mot dummy
    lappend rack1target 0.0
    lappend rack2mot dummy
    lappend rack2target 0.0
    lappend rack3mot dummy
    lappend rack3target 0.0
#-------- how many levels do we have?
    set level -1
    if { [llength $rack1mot] > $level} {
	set level [llength $rack1mot]
    }
    if { [llength $rack2mot] > $level} {
	set level [llength $rack2mot]
    }
    if { [llength $rack3mot] > $level} {
	set level [llength $rack3mot]
    }
    if { $level <= 1} {
	error "Nothing to do"
    }
#------------ we are set to serialize
    anticollision clear
    for {set i 0} {$i < $level} {incr i} {
	set tst [expr $i + 1]
	if { [llength $rack1mot] > $tst} {
	    anticollision add $i [lindex $rack1mot $i] \
		    [lindex $rack1target $i] 
	}
	if { [llength $rack2mot] > $tst } {
	    anticollision add $i [lindex $rack2mot $i] \
		    [lindex $rack2target $i] 
	}
	if { [llength $rack3mot] > $tst } {
	    anticollision add $i [lindex $rack3mot $i] \
		    [lindex $rack3target $i] 
	}
    }
    return 
}
Publish sans2rack User 
anticollision script sans2rack
#====================== PSI Motoren ===================================
Motor ome EL734 sans2 4000 3 1
Motor chi EL734 sans2 4000 3 2
Motor phi EL734 sans2 4000 3 3
Motor tilt EL734 sans2 4000 2 1

SicsAlias ome traz "These motors are used to drive SANS I translation table"
SicsAlias chi trax "while ome is sample z and chi is sample x (TG070704)"
#====================== Multi Motor Setup ==============================
MakeMulti detector
detector alias dz x
detector endconfig
SicsAlias detector dt

MakeMulti bs
bs alias dh x
bs alias dv y
bs endconfig

MakeMulti chamber
chamber alias sr omega
chamber alias stx x
chamber alias sty y
chamber alias sc  c
chamber endconfig

MakeMulti gonio
gonio alias gu chi
gonio alias gl phi
gonio alias tu xu
gonio alias tl yu
gonio endconfig

MakeMulti table
table alias om om
table alias sz z
table alias sx x
table alias sy y
table endconfig#
#====================== HISTOGRAM MEMORY ================================
MakeCounter counter ecb ecb1
MakeECB tdc gpib 0 7
MakeHM banana tdc
banana configure dim0 128
banana configure dim1 128 
banana configure rank 2
banana configure Counter counter
banana configure bank 0
banana configure map 9
banana configure range 0
banana configure n 0
banana configure ecb tdc
banana configure fill 0
banana configure mode HMXY
banana init
banana exponent 6
banana CountMode timer
banana preset 100
=========================== velocity selector ========================
set dorn(Host) psts233
set dorn(Port) 3004
set dorn(Channel) 4
set dorn(Timeout) 20000
set dorn(MinControl) 6500
VelocitySelector nvs tilt dornier2003 dorn
#VelocitySelector nvs tilt SIM
nvs add -20 28800
nvs add 3600 4500
nvs add 7800 10500
nvs add 21500 23500
nvs status
nvs interrupt 0
MakeSANSWave lambda nvs
emon unregister nvswatch
#===================================== auxiliary hardware ==============
set distoCON [gpib attach 0 14 0 13 0 1]

#--------- for the Hakle Feucht
MakeRS232Controller h50 psts233 3005
#===================================== data file writing ================
MakeNXScript
#===================================== install commands ==================
MakeDrive
MakeRuenBuffer
commandlog auto
MakePSDFrame
SerialInit
#--------- drive command
MakeDrive
SicsAlias drive dr
#----------- for adding scripted content to the status file
MakeTclInt bckintern
#----- alias for temperature
DefineAlias tt temperature
#=================================== load specific command files ===========
source $scriptroot/sans2com.tcl
source $scriptroot/hakle.tcl
source $scriptroot/hakle50.tcl
source $scriptroot/HaakeSetup.tcl
source $scriptroot/A1931Setup.tcl
source $scriptroot/sans2geometry.tcl
source $scriptroot/sans2measurement.tcl
source $scriptroot/sans2wavelength.tcl
source $scriptroot/scan_a.tcl
# initialisation for IPS-120 superconducting magnet power supply
# this definition does not harm other devices used through the same channel
ips init localhost 4000 7
#=================================== load display definition =============
#source $scriptroot/sans2dis.tcl

#=======================================================================
disto