# Generated driver for omron_hldc
# vim: ft=tcl tabstop=8  softtabstop=2  shiftwidth=2  nocindent  smartindent
#

namespace eval ::scobj::omron_hldc {
  set debug_threshold 5
}

proc ::scobj::omron_hldc::debug_log {tc_root debug_level debug_string} {
  set catch_status [ catch {
    set debug_threshold [hgetpropval ${tc_root} debug_threshold]
    if {${debug_level} >= ${debug_threshold}} {
      set fd [open "../log/omron_hldc_[basename ${tc_root}].log" "a"]
      set line "[clock format [clock seconds] -format "%T"] ${debug_string}"
      puts ${fd} "${line}"
      close ${fd}
    }
  } catch_message ]
}

proc ::scobj::omron_hldc::sics_log {debug_level debug_string} {
  set catch_status [ catch {
    set debug_threshold ${::scobj::omron_hldc::debug_threshold}
    if {${debug_level} >= ${debug_threshold}} {
      sicslog "::scobj::omron_hldc::${debug_string}"
    }
  } catch_message ]
}

# check function for hset change
proc ::scobj::omron_hldc::checkrange {tc_root} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
    set setpoint [sct target]
    if { [hpropexists [sct] lowerlimit] } {
      set lolimit [sct lowerlimit]
    } else {
      # lowerlimit not set, use target
      set lolimit [sct target]
    }
    if { [hpropexists [sct] upperlimit] } {
      set hilimit [sct upperlimit]
    } else {
      # upperlimit not set, use target
      set hilimit [sct target]
    }
# checkrange hook code goes here
    if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
      error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
    }
    return OK
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# function to request the read of a parameter on a device
proc ::scobj::omron_hldc::getValue {tc_root nextState cmd_str} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
    if { [hpropexists [sct] geterror] } {
      hdelprop [sct] geterror
    }
    set cmd "${cmd_str}"
# getValue hook code starts
    set cmd "00000${cmd}"
# getValue hook code ends
    if { [hpropexists [sct] geterror] } {
      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
      error "[sct geterror]"
    }
    debug_log ${tc_root} 1 "getValue sct send ${cmd}"
    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
      sct send "${cmd}"
    }
    return ${nextState}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# function to check the write parameter on a device
proc ::scobj::omron_hldc::noResponse {tc_root} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
# noResponse hook code goes here
    return "idle"
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# function to parse the read of a parameter on a device
proc ::scobj::omron_hldc::read_id {tc_root} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "read_id tc_root=${tc_root} sct=[sct] result=[sct result]"
    if { [hpropexists [sct] geterror] } {
      hdelprop [sct] geterror
    }
    set data [sct result]
    set nextState "idle"
    if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
      # the protocol driver has reported an error
      sct geterror "${data}"
      error "[sct geterror]"
    }
# read_id hook code starts
    if {[string length ${data}] < 14} {
      sct geterror "read_id short response ${data}"
    } else {
      set data [string range ${data} 14 end]
    }
# read_id hook code ends
    if { [hpropexists [sct] geterror] } {
      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
      error "[sct geterror]"
    }
    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
      }
    return ${nextState}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# function to parse the read of a parameter on a device
proc ::scobj::omron_hldc::read_mm {tc_root} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "read_mm tc_root=${tc_root} sct=[sct] result=[sct result]"
    if { [hpropexists [sct] geterror] } {
      hdelprop [sct] geterror
    }
    set data [sct result]
    set nextState "idle"
    if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
      # the protocol driver has reported an error
      sct geterror "${data}"
      error "[sct geterror]"
    }
# read_mm hook code starts
    if {[string length "${data}"] < 34} {
      sct geterror "read_mm short response ${data}"
    } else {
      set hex [string range ${data} 26 end]
      debug_log ${tc_root} 1 "hex = ${hex}"
      set n [scan "${hex}" "%x" val]
      if {${n} == 1} {
        set data [expr {0.000001 * ${val}}]
      } else {
        sct geterror "read_mm n = ${n} for hex = ${hex}"
      }
    }
# read_mm hook code ends
    if { [hpropexists [sct] geterror] } {
      debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
      error "[sct geterror]"
    }
    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
      }
    return ${nextState}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

# function to write a parameter value on a device
proc ::scobj::omron_hldc::setValue {tc_root nextState cmd_str} {
  set catch_status [ catch {
    debug_log ${tc_root} 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
    if { [hpropexists [sct] geterror] } {
      hdelprop [sct] geterror
    }
    set par [sct target]
    set cmd "${cmd_str}${par}"
# setValue hook code goes here
    if { [hpropexists [sct] driving] } {
      if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
        sct driving 1
      }
    }
    debug_log ${tc_root} 1 "setValue sct send ${cmd}"
    if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
      sct send "${cmd}"
    }
    return ${nextState}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

proc ::scobj::omron_hldc::mkDriver { sct_controller name } {
  ::scobj::omron_hldc::sics_log 9 "::scobj::omron_hldc::mkDriver for ${name}"
  set ns "[namespace current]"
  set catch_status [ catch {

    MakeSICSObj ${name} SCT_OBJECT

    sicslist setatt ${name} klass environment
    sicslist setatt ${name} long_name ${name}

    set scobj_hpath /sics/${name}

    hfactory ${scobj_hpath}/distance plain user float
    hsetprop ${scobj_hpath}/distance read ${ns}::getValue ${scobj_hpath} read_mm {0201C02030008001}
    hsetprop ${scobj_hpath}/distance read_mm ${ns}::read_mm ${scobj_hpath}
    hsetprop ${scobj_hpath}/distance control true
    hsetprop ${scobj_hpath}/distance data true
    hsetprop ${scobj_hpath}/distance mutable true
    hsetprop ${scobj_hpath}/distance nxsave true
    hsetprop ${scobj_hpath}/distance oldval 0.0
    hsetprop ${scobj_hpath}/distance sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/distance type "part"
    hsetprop ${scobj_hpath}/distance nxalias "${name}_distance"

    hfactory ${scobj_hpath}/id plain user text
    hsetprop ${scobj_hpath}/id read ${ns}::getValue ${scobj_hpath} read_id {0501}
    hsetprop ${scobj_hpath}/id read_id ${ns}::read_id ${scobj_hpath}
    hsetprop ${scobj_hpath}/id control true
    hsetprop ${scobj_hpath}/id data true
    hsetprop ${scobj_hpath}/id mutable false
    hsetprop ${scobj_hpath}/id nxsave true
    hsetprop ${scobj_hpath}/id oldval UNKNOWN
    hsetprop ${scobj_hpath}/id sdsinfo "::nexus::scobj::sdsinfo"
    hsetprop ${scobj_hpath}/id type "part"
    hsetprop ${scobj_hpath}/id nxalias "${name}_id"

    if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
      ${sct_controller} poll ${scobj_hpath}/distance 1
      ${sct_controller} poll ${scobj_hpath}/id 10
    } else {
      ::scobj::omron_hldc::sics_log 9 "[environment_simulation] => No poll/write for omron_hldc"
    }
    hsetprop ${scobj_hpath} klass environment
    hsetprop ${scobj_hpath} debug_threshold 5
# mkDriver hook code goes here
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

namespace eval ::scobj::omron_hldc {
  namespace export debug_threshold
  namespace export debug_log
  namespace export sics_log
  namespace export mkDriver
}

proc add_omron_hldc {name IP port} {
  set catch_status [ catch {
    ::scobj::omron_hldc::sics_log 9 "add_omron_hldc ${name} ${IP} ${port}"
    if {[string equal -nocase [SplitReply [environment_simulation]] "false"]} {
      if {[string equal -nocase "aqadapter" "${IP}"]} {
        ::scobj::omron_hldc::sics_log 9 "makesctcontroller sct_${name} aqadapter ${port}"
        makesctcontroller sct_${name} aqadapter ${port}
      } else {
        ::scobj::omron_hldc::sics_log 9 "makesctcontroller sct_${name} std ${IP}:${port}"
        makesctcontroller sct_${name} std ${IP}:${port}
      }
    } else {
      ::scobj::omron_hldc::sics_log 9 "[environment_simulation] => No sctcontroller for omron_hldc"
    }
    ::scobj::omron_hldc::sics_log 1 "::scobj::omron_hldc::mkDriver sct_${name} ${name}"
    ::scobj::omron_hldc::mkDriver sct_${name} ${name}
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

clientput "file evaluation of sct_omron_hldc.tcl"
::scobj::omron_hldc::sics_log 9 "file evaluation of sct_omron_hldc.tcl"

proc ::scobj::omron_hldc::read_config {} {
  set catch_status [ catch {
    set ns "::scobj::omron_hldc"
    dict for {k v} $::config_dict {
      if { [dict exists $v "implementation"] } {
        set name [dict get $v name]
        set enabled [string tolower [dict get $v "enabled"]]
        set implementation [dict get $v "implementation"]
        set v [dict get $::config_dict $implementation]
        if { [dict get $v "driver"] == "omron_hldc" } {
          if { [dict get $v enabled] } {
            if { ![string equal -nocase [SplitReply [environment_simulation]] "false"] } {
              set asyncqueue "null"
              ${ns}::sics_log 9 "[environment_simulation] => using null asyncqueue"
            } elseif { [dict exists $v "asyncqueue"] } {
              set asyncqueue [dict get $v "asyncqueue"]
            } else {
              if { [dict exists $v "asyncprotocol"] } {
                set asyncprotocol [dict get $v "asyncprotocol"]
              } else {
                set asyncprotocol ${name}_protocol
                MakeAsyncProtocol ${asyncprotocol}
                if { [dict exists $v "terminator"] } {
                  ${asyncprotocol} sendterminator "[dict get $v "terminator"]"
                  ${asyncprotocol} replyterminator "[dict get $v "terminator"]"
                }
              }
              set asyncqueue ${name}_queue
              set IP [dict get $v ip]
              set PORT [dict get $v port]
              MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${IP} ${PORT}
              if { [dict exists $v "timeout"] } {
                ${asyncqueue} timeout "[dict get $v "timeout"]"
              }
            }
            add_omron_hldc ${name} "aqadapter" ${asyncqueue}
          }
        }
      }
    }
  } catch_message ]
  handle_exception ${catch_status} ${catch_message}
}

if { [info exists ::config_dict] } {
  ::scobj::omron_hldc::read_config
} else {
  ::scobj::omron_hldc::sics_log 5 "No config dict"
}