# Author: jgn@ansto.gov.au

##
# @file Lyrebird Flight Tube Rotate controller
namespace eval ::scobj::galil {
  variable sim_mode
}


 ##
 # @brief Send a command which returns a TPF value from Motor
 # @param nextState, State which handles the reply
 # @return The next state
 proc ::scobj::galil::getTPF {} {
   sct send "TPF"
   return ackCmd
 }

 ##
 # @brief Get a TPF value from Motor
 # Convert TPF value to the Angle value which be displayed on Gumtree client.
 proc ::scobj::galil::ackCmd {batpath} {
   set tpfValue [sct result]
   set tmp [expr {($tpfValue - 190161)*(-0.006696) + 25.77375473}]
   broadcast "tpfValue = $tpfValue; tmp = $tmp"
   hset $batpath/Angle $tmp
   broadcast "Angle = [hget $batpath/Angle]"
   return idle
 }

 ##
 # @brief Read Angle value from Gumtree client and then send the command to the Motor
 # @return The next state 
 proc ::scobj::galil::getValue {nextState} {
   set tmpAngle [sct target]
   set comm "ANGLE=$tmpAngle"
   sct send $comm
   return $nextState
}

 ##
 # @brief Get ACK from the Motor after sending an ANGLE command to the Motor
 # @return IDLE 
 proc ::scobj::galil::rdStatusFunc {} {
    set ack [sct result]
    if {$ack == -1} {
      broadcast "Done: angle command set correctly!"
    } elseif {
      broadcast "Error $ack: Angle is not set correctly, check the error code $ack!"
    }
    return idle
} 

proc ::scobj::galil::mkGalil {argList} {

  foreach {k v} $argList {
    set KEY [string toupper $k]
      set pa($KEY) $v
  }

  set NS ::scobj::$pa(NAME)
  set internal $pa(INTERVAL) 
  set batObjName $pa(NAME)

  set batpath /sics/$batObjName

  set sim_mode [SplitReply [motor_simulation]]
  #set sim_mode "false"

  MakeSICSObj $batObjName SCT_OBJECT

  # Set hipadaba properties for GumTree interface
  # and NeXus data file.
  #sicslist setatt $pa(NAME) klass instrument
  #sicslist setatt $pa(NAME) long_name $pa(NAME)
  hsetprop $batpath klass NXaperture
  
  hfactory /sics/$pa(NAME)/Angle plain user float
  hfactory /sics/$pa(NAME)/setAngle plain user float 

  makesctcontroller sct_ft galil $pa(IP):$pa(PORT)
  #makesctcontroller sct_ft std $pa(IP):$pa(PORT)

  # Get the TPF value from the Motor, then convert to current ANGLE position
  hsetprop $batpath read ${NS}::getTPF
  hsetprop $batpath ackCmd ${NS}::ackCmd $batpath
  
  # Read the ANGLE value from the Gumtree client, then send  roate command to Motor and get ACK from Motor.
  hsetprop $batpath write ${NS}::getValue rdStatus
  hsetprop $batpath rdStatus ${NS}::rdStatusFunc

  ::scobj::hinitprops $batObjName setAngle Angle

  sct_ft poll $batpath $internal 
  sct_ft write $batpath

}