48772a1cc6
dmc send and receive commands now take a socket as a parameter. channel and controller arrays can be used to lookup the socket by IP address or controller name. troubleshoot.tcl: Uses new dmc send and receive commands. Also loads motorinfo.tcl so that encoder readings can be read. r1128 | ffr | 2006-10-09 13:12:08 +1000 (Mon, 09 Oct 2006) | 6 lines
72 lines
2.1 KiB
Tcl
72 lines
2.1 KiB
Tcl
# $Revision: 1.4 $
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# $Date: 2006-10-09 03:12:08 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by $Author: ffr $
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# globals controller, channel
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# Open a communications channel to a dmc2280 motor controller
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# contName: controller name, eg dmc2280_controller1
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# The host and port in the SICS configuration file will be used by default
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proc dmc_connect {contName {host ""} {port ""}} {
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upvar #0 $contName controller;
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global channel;
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if {$host == ""} {set host $controller(host)}
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if {$port == ""} {set port $controller(port)}
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if [catch {socket $host $port} con] {
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error "Failed to connect to $contName IP($host) port($port)\n\
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$con\n
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Is the motor controller switched on? Are the network cables plugged in?\n
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NOTE: You can only have a maximum of eight connections per motor controller.\n
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If there are other programs (eg SICS) connected to the controller then all\n
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of the available connections may have been used up."
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}
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set controller(socket) $con
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set channel($contName) $con
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set channel($con) $contName
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set channel($controller(host)) $con
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fconfigure $con -buffering line -translation crlf -blocking true
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}
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proc dmc_close {dmc_socket} {
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close $dmc_socket;
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}
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# Send a dmc2280 command
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proc dmc_sendCmd {dmc_socket cmd} {
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global channel
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set contName $channel($dmc_socket);
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upvar #0 $contName controller
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puts $dmc_socket $cmd
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set status [read $dmc_socket 1]
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if {$status == "?"} {
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puts $dmc_socket "TC 1"
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set status [read $dmc_socket 1]
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if {$status == "?"} {
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error "error: dmc command $cmd failed"
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} else {
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set dmcError [dmc_receive $dmc_socket]
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set errInfo "DM2280 controller $contName
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host $controller(host)
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port $controller(port)"
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error "DMC2280 ERROR $dmcError: when running command $cmd\n$errInfo"
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}
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} else {
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return $status
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}
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}
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# Receive a dmc2280 command
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proc dmc_receive {dmc_socket} {
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global channel
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set contName $channel($dmc_socket);
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upvar #0 $contName controller
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gets $dmc_socket line
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# Consume the following colon
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read $dmc_socket 1
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return $line
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}
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