sics/site_ansto/instrument/lyrebird/config/goniometer/sct_goniometer.tcl

##
# @file Goniometer controller 
#
# Author: Jing Chen (jgn@ansto.gov.au) June 2010
#
# The Goniometer controller can be installed with the following command,
# ::scobj::goniometer::mkGoniometer {
#   name "goniometer"
#   IP localhost
#   PORT 62944
#   tuning 1
#   interval 1
# } 
#
# NOTE:
# If tuning=1 this will generate gom/set_gom, gchi/set_gchi and gphi/set_gphi
# nodes for the instrument scientists.
# The tuning parameter should be set to 0 for the users.
#

namespace eval ::scobj::goniometer {
}

proc ::scobj::goniometer::set_gom {basePath} {
   set newGOM [sct target]
   hsetprop $basePath targetGom $newGOM
   return idle
} 
  
proc ::scobj::goniometer::set_gchi {basePath} {
   set newGCHI [sct target]
   hsetprop $basePath targetGchi $newGCHI
   return idle
} 
  
proc ::scobj::goniometer::set_gphi {basePath} {
   set newGPHI [sct target]
   hsetprop $basePath targetGphi $newGPHI
   return idle
}

##
# @brief Request a state report from the PLC controller by sending a get_prop command
proc ::scobj::goniometer::rqStatFunc {} {
  set comm "<get><var>gom,gchi,gphi</var></get>\n"
  sct send $comm
  return rdState
}

##
# @brief Read and record the state report from the PLC server
proc ::scobj::goniometer::rdStatFunc {basePath} {
  set replyStr [sct result]
  #broadcast $replyStr
  if {[string first "err" $replyStr] != -1} {
    broadcast "ERROR: cannot get the value to the PLC server, check again!"
  } else {
    set s1 [string map {<get> | <gom> gom: </gom> | <gchi> gchi: </gchi> | <gphi> gphi: </gphi> | </get> |} $replyStr]
    set s2 [string trim $s1 "|\n"]
    set s3 [split $s2 "|:"]

    array set stateArr $s3

    hset $basePath/gom $stateArr(gom)
    hset $basePath/gchi $stateArr(gchi)
    hset $basePath/gphi $stateArr(gphi)  

    hsetprop $basePath currGom $stateArr(gom)
    hsetprop $basePath currGchi $stateArr(gchi)
    hsetprop $basePath currGphi $stateArr(gphi)
       
    #sct update $s3
    sct utime readtime
  }
  return idle
}

##
# @Check if any of  gom/gchi/gphi has been changed by client
proc ::scobj::goniometer::checkStatusFunc {basePath} {
  set targetGom [hgetpropval $basePath targetGom]
  set targetGchi [hgetpropval $basePath targetGchi]
  set targetGphi [hgetpropval $basePath targetGphi]

  set currGom [hgetpropval $basePath currGom]
  set currGchi [hgetpropval $basePath currGchi]
  set currGphi [hgetpropval $basePath currGphi]

  if {$targetGom != $currGom} {
     set comm "<set><var>gom</var><val>$targetGom</val></set>\n"
  } elseif {$targetGchi != $currGchi} {
     set comm "<set><var>gchi</var><val>$targetGchi</val></set>\n"
  } elseif {$targetGphi != $currGphi} {
     set comm "<set><var>gphi</var><val>$targetGphi</val></set>\n"
  } else {
     return idle
  }

  sct send $comm
  return CheckReply
}

proc ::scobj::goniometer::checkReplyFunc {} {
  set replyStr [sct result]
  broadcast $replyStr

  if {[string first "<err>var</err>" $replyStr] != -1} {
    broadcast "ERROR: the varaible does not exist!"
  } elseif {[string first "<err>set</err>" $replyStr] != -1} {
    broadcast "ERROR: PLC cannot write new values for variable due to internal reason!"
  } else {
    sct utime readtime
  } 
    
  return idle
}

##
# @brief Make a Goniometer controller
# 
# @param argList,  {name "goniometer" IP localhost PORT 62944 tuning 1 interval 1} 
#
# name: name of goniometer controller object
# IP: IP address of RF generator moxa box
# PORT: Port number assigned to the generator on the moxa-box
# tuning: boolean, set tuning=1 to allow instrument scientists to set the axe positions
# interval: polling and ramping interval in seconds. 
proc ::scobj::goniometer::mkGoniometer {argList} {
# Generate parameter array from the argument list
  foreach {k v} $argList {
    set KEY [string toupper $k]
      set pa($KEY) $v
  }

  MakeSICSObj $pa(NAME) SCT_OBJECT
  sicslist setatt $pa(NAME) klass instrument
  sicslist setatt $pa(NAME) long_name $pa(NAME)

  hfactory /sics/$pa(NAME)/gom plain internal int
  hfactory /sics/$pa(NAME)/gchi plain internal int
  hfactory /sics/$pa(NAME)/gphi plain internal int

  hfactory /sics/$pa(NAME)/set_gom plain user int
  hfactory /sics/$pa(NAME)/set_gchi plain user int
  hfactory /sics/$pa(NAME)/set_gphi plain user int

  makesctcontroller sct_goniometer std $pa(IP):$pa(PORT)

  hset /sics/$pa(NAME)/gom 0
  hset /sics/$pa(NAME)/gchi 0
  hset /sics/$pa(NAME)/gphi 0

  hsetprop /sics/$pa(NAME) currGom 0
  hsetprop /sics/$pa(NAME) currGchi 0
  hsetprop /sics/$pa(NAME) currGphi 0

  hsetprop /sics/$pa(NAME) targetGom 10
  hsetprop /sics/$pa(NAME) targetGchi 15
  hsetprop /sics/$pa(NAME) targetGphi 20

  hsetprop /sics/$pa(NAME)/gom read ::scobj::goniometer::rqStatFunc
  hsetprop /sics/$pa(NAME)/gom rdState ::scobj::goniometer::rdStatFunc /sics/$pa(NAME)

  hsetprop /sics/$pa(NAME)/gchi read ::scobj::goniometer::checkStatusFunc /sics/$pa(NAME)
  hsetprop /sics/$pa(NAME)/gchi CheckReply ::scobj::goniometer::checkReplyFunc

  # Initialise properties required for generating the API for GumTree and to save data
  ::scobj::hinitprops $pa(NAME) gom gchi gphi

  sct_goniometer poll /sics/$pa(NAME)/gom $pa(INTERVAL)
  sct_goniometer poll /sics/$pa(NAME)/gchi $pa(INTERVAL)

  if {$pa(TUNING)} {
    hsetprop /sics/$pa(NAME)/set_gom write ::scobj::goniometer::set_gom /sics/$pa(NAME)
    hsetprop /sics/$pa(NAME)/set_gchi write ::scobj::goniometer::set_gchi /sics/$pa(NAME)
    hsetprop /sics/$pa(NAME)/set_gphi write ::scobj::goniometer::set_gphi /sics/$pa(NAME)

    sct_goniometer write /sics/$pa(NAME)/set_gom
    sct_goniometer write /sics/$pa(NAME)/set_gchi
    sct_goniometer write /sics/$pa(NAME)/set_gphi
  }
}