608 lines
20 KiB
Tcl
608 lines
20 KiB
Tcl
# TODO Check if requested tilt-angle is within range
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##
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# @file
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# The velocity selector control is split into two objects,
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# 1. velsel_poller: This object polls the velocity selector to get its
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# current state. The first time that it gets valid state info it will
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# register the read and write parameters for the velocity_selector object
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# and create nvs_speed and nvs_lambda drivable adapters.
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# 2. velocity_selector: This object manages a set of status nodes which
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# correspond to the state parameters read by the velsel_poller object.
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# It also provides commands to set the speed, wavelength and angle for the velocity
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# selector and provides drivable interfaces for the speed and wavelength.
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#
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# You can drive the velocity selector speed via the driveable object called nvs_speed
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# You can drive the wavelength via the driveable object called nvs_lambda
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# NOTE Doesn't provide the power loss command. Do we need it?
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# Test by adding the following to barebones.tcl
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# InstallHdb
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# source config/velocity_selector/xsct_velsel.tcl
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# hfactory /velocity_selector link velocity_selector
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# The velocity selector doesn't close client connections
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# if the connection is broken. It only closes the connection
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# when a client logs off with "#SES#bye", NOTE bye must be lowercase.
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namespace eval ::scobj::velocity_selector {
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variable UID
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variable PWD
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variable sim_mode
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variable paramindex
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variable paramtype
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variable pollrate 7
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#from NVSOptions.cpp nha
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# m_dTwistAngle degrees
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# m_dTwistAngle m
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# m_iMaxSpeed rpm
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variable m_dTwistAngle
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variable m_dLength
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variable m_iMaxSpeed
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variable rBeamCenter
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variable VNeutron
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variable blocked_speeds
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set sim_mode [SplitReply [velsel_simulation]]
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proc AngleSpeedToWavelength {angle VsVarSpeed} {
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variable m_dTwistAngle
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variable m_dLength
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variable m_iMaxSpeed
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variable rBeamCenter
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variable VNeutron
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if {$VsVarSpeed < 3100} {
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return -code error "Minimum speed is 3100 rpm"
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}
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set lambda0 [expr ($m_dTwistAngle*60.0*$VNeutron)/(360.0*$m_dLength*$m_iMaxSpeed)]
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set pi [expr acos(-1)]
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# set pi = 3.14159265358979;
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set A [expr (2.0 * $rBeamCenter * $pi) / (60.0 * $VNeutron)]
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set angle_rad [expr ($angle * $pi) / 180.0]
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set lambda1 [expr ( tan($angle_rad)+($A * $m_iMaxSpeed * $lambda0) ) / ((-($A*$A) * $m_iMaxSpeed * $VsVarSpeed * $lambda0 * tan($angle_rad) )+($A * $VsVarSpeed))]
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return [format "%#.5g" $lambda1]
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}
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proc WavelengthToSpeed {angle lambda1} {
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variable m_dTwistAngle
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variable m_dLength
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variable m_iMaxSpeed
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variable rBeamCenter
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variable VNeutron
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if {$lambda1 < 4.6125} {
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return -code error "Minimum wavelength is 4.6125 Angstrom"
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}
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set lambda0 [expr ($m_dTwistAngle*60.0*$VNeutron)/(360.0*$m_dLength*$m_iMaxSpeed)]
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set pi [expr acos(-1)]
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# set pi = 3.14159265358979;
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set A [expr (2.0 * $rBeamCenter * $pi) / (60.0 * $VNeutron)]
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set angle_rad [expr ($angle * $pi) / 180.0]
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set VsVarSpeed [expr ( tan($angle_rad)+($A * $m_iMaxSpeed * $lambda0) ) / ((-($A*$A) * $m_iMaxSpeed * $lambda1 * $lambda0 * tan($angle_rad) )+($A * $lambda1))]
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return [expr round($VsVarSpeed)]
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}
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array set paramindex {
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state 0
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rspeed 1
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aspeed 2
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sspeed 3
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aveto 4
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ploss 5
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splos 6
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ttang 7
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rtemp 8
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wflow 9
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winlt 10
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woutt 11
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vacum 12
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wvalv 13
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vvalv 14
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vibrt 15
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bcuun 16
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}
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array set paramtype {
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state text
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rspeed float
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aspeed float
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sspeed float
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aveto text
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ploss float
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splos float
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ttang float
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rtemp float
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wflow float
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winlt float
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woutt float
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vacum float
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wvalv text
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vvalv text
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vibrt float
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bcuun float
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}
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MakeSICSObj velsel_poller SCT_OBJECT
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MakeSICSObj velocity_selector SCT_OBJECT
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sicslist setatt velocity_selector klass NXvelocity_selector
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sicslist setatt velocity_selector long_name velocity_selector
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proc sendUID {user} {
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sct send $user
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return rdPwdChallenge
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}
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proc rdPwdChallenge {} {
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set challenge [sct result]
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return sndPwd
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}
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proc sndPwd {pwd} {
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sct send $pwd
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return rdPwdAck
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}
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proc rdPwdAck {} {
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set ack [sct result]
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return idle
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}
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##
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# @brief Request a state report from the velocity selector
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proc getStatus {} {
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sct send "#SOS#STATE "
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return rdState
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}
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##
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# @brief Read the current state report from the velocity selector.
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proc rdState {root statuspath} {
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variable paramindex
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set staterep [sct result]
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if {[string match {ASCERR:*} $staterep]} {
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hset $root/device_error $staterep
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return idle
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}
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if {[string match {*#SES#You are not a valid user*} $staterep]} {
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return sendUID
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}
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if {[string match {#SOS#*} $staterep] == 0 } {
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hset $root/device_error $staterep
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return idle
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}
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set status [lrange [split $staterep "#"] 3 end-1]
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set rspeed [lindex $status $paramindex(rspeed) end]
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set aspeed [lindex $status $paramindex(aspeed) end]
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set speedvar [expr 0.2*$rspeed/100]
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if {[hval $root/status] == "busy"} {
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set target [hgetpropval $root/setspeed target]
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if {$rspeed != $target} {
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hset $root/device_error "Resending target speed $target"
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hset $root/setspeed $target"
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return idle
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}
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if {[expr abs($rspeed - $aspeed)] <= $speedvar} {
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hset $root/status "idle"
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statemon stop nvs_speed
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statemon stop nvs_lambda
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if [hgetpropval $root/setspeed driving] {
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hsetprop $root/setspeed driving 0
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hsetprop $root/setLambdaA driving 0
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}
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}
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}
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if {$staterep != [sct oldval]} {
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set state [lindex $status $paramindex(state) end]
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if {$state != [sct oldstate]} {
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if {[string match {*CONTROL*} $state] && [expr abs($rspeed - $aspeed)] > $speedvar} {
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# hset $root/status "busy"
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} elseif {[string match {*CONTROL*} $state]==0 && $aspeed == 0} {
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hset $root/status "idle"
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statemon stop nvs_speed
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statemon stop nvs_lambda
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if [hgetpropval $root/setspeed driving] {
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hsetprop $root/setspeed driving 0
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hsetprop $root/setLambdaA driving 0
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}
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}
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sct oldstate $state
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}
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if {[sct oldval] == "UNKNOWN"} {
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sct_velsel_init $root
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}
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sct oldval $staterep
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sct update $status
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sct utime readtime
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}
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if {[hval $root/device_error] != ""} {
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hset $root/device_error ""
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}
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return idle
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}
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##
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# @brief This dummy read command forces a transition to a state which
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# will update a parameter from the current status.
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proc getpar {nextstate} {
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return $nextstate
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}
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proc noResponse {} {
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sct result
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return idle
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}
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##
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# @brief Looks up a parameter in the current status and updates the
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# parameter node.
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# @param statuspath, path to the poller object's status node.
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# @param parindex, index of the required parameter
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proc updatepar {statuspath parindex} {
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set data [lindex [hval $statuspath] $parindex end]
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if {$data != [sct oldval]} {
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sct oldval $data
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sct update $data
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sct utime readtime
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}
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return idle
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}
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proc setSpeed {vs_root statuspath nextState} {
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variable paramindex
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set speed [format "%5d" [sct target]]
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sct send "#SOS#SPEED $speed"
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set angle [lindex [hval $statuspath] $paramindex(ttang) end]
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set lambda [AngleSpeedToWavelength $angle $speed]
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sct target $speed
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hsetprop $vs_root/setLambdaA target $lambda
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hset $vs_root/status "busy"
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statemon start nvs_speed
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statemon start nvs_lambda
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if {[sct writestatus] == "start"} {
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# Called by drive adapter
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hsetprop $vs_root/setspeed driving 1
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hsetprop $vs_root/setLambdaA driving 1
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}
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return $nextState
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}
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proc sendCommand {nextState} {
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set state [string tolower [sct target]]
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switch $state {
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"idle" {
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sct send "#SOS#IDLE "
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}
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"brake" {
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sct send "#SOS#BRAKE "
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}
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"init" {
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sct send "#SOS#TTINIT"
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}
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default {
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return idle
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}
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}
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return $nextState
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}
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proc readLambda {statuspath} {
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variable paramindex
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set angle [lindex [hval $statuspath] $paramindex(ttang) end]
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set aspeed [lindex [hval $statuspath] $paramindex(aspeed) end]
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set lambda [AngleSpeedToWavelength $angle $aspeed]
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if {$lambda != [sct oldval]} {
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sct oldval $lambda
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sct update $lambda
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sct utime readtime
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}
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return idle
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}
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##
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# @brief This will check if turntable operation is allowed
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proc ttableCheck {statuspath nextState} {
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variable paramindex
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set state [lindex [hval $statuspath] $paramindex(state) end]
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set aspeed [lindex [hval $statuspath] $paramindex(aspeed) end]
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if {[string match {*CONTROL*} $state] || $aspeed != 0} {
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error "Not allowed while the velocity selector is running"
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}
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return OK
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}
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proc is_Speed_in_blocked_range {speed} {
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variable blocked_speeds
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foreach {min max} $blocked_speeds {
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if {$min <= $speed && $speed <= $max} {
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error "Speed of $speed rpm is within the blocked range of $min to $max rpm"
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}
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}
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return OK
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}
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proc get_nearest_allowed_speed {speed} {
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variable blocked_speeds
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set speed_ok true
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foreach {min max} $blocked_speeds {
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if {$min <= $speed && $speed <= $max} {
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set speed_ok false
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break
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}
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}
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if {$speed_ok} {
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return $speed
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} else {
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foreach {min max} $blocked_speeds {
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if {$min <= $speed && $speed <= $max} {
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if {$min == -inf} {
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return [expr $max+10]
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}
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if {$max == inf} {
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return [expr $min-10]
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}
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if {[expr $max - $speed] > [expr $speed - $min]} {
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return [expr $min-10]
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} else {
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return [expr $max+10]
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}
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}
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}
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}
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}
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##
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# @brief This will check if the requested speed is allowed
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proc checkBlockedSpeeds {statuspath} {
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variable paramindex
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set speed [sct target]
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set ttang [lindex [hval $statuspath] $paramindex(ttang) end]
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if {$ttang > 90} {
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error "ERROR: You must first initialise the turntable"
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}
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return [is_Speed_in_blocked_range $speed]
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}
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##
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# @brief This will check if target wavelength is allowed
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proc checkBlockedWavelengths {statuspath} {
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variable paramindex
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set lambda [sct target]
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set ttang [lindex [hval $statuspath] $paramindex(ttang) end]
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if {$ttang > 90} {
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error "ERROR: You must first initialise the turntable"
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}
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set angle [lindex [hval $statuspath] $paramindex(ttang) end]
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set speed [WavelengthToSpeed $angle $lambda]
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return [is_Speed_in_blocked_range $speed]
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}
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##
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# @brief Implement the checkstatus command for the drivable interface
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#
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# NOTE: The drive adapter initially sets the writestatus to "start" and will
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# only call this when writestatus!="start"
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# TODO Do we need to handle hardware faults or is the state check in rdstate enough?
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proc drivestatus {} {
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if [sct driving] {
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return busy
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} else {
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return idle
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}
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}
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proc halt {root} {
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hsetprop $root/setspeed driving 0
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hsetprop $root/setLambdaA driving 0
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hset $root/status "idle"
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statemon stop nvs_speed
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statemon stop nvs_lambda
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set speed [get_nearest_allowed_speed [hval $root/aspeed]]
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broadcast halt: set speed to $speed
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catch {hset $root/setspeed $speed} msg
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broadcast $msg
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return idle
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}
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proc setPar {par nextState} {
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set val [sct target]
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sct send "#SOS#$par $val"
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return $nextState
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}
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proc setLambda {vs_root statuspath nextState} {
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variable paramindex
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set lambda [sct target]
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set angle [lindex [hval $statuspath] $paramindex(ttang) end]
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set speed [WavelengthToSpeed $angle $lambda]
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set fmtspeed [format "%5d" $speed]
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sct send "#SOS#SPEED $fmtspeed"
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sct target $lambda
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hsetprop $vs_root/setspeed target $speed
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hset $vs_root/status "busy"
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statemon start nvs_speed
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statemon start nvs_lambda
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if {[sct writestatus] == "start"} {
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# Called by drive adapter
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hsetprop $vs_root/setLambdaA driving 1
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hsetprop $vs_root/setspeed driving 1
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}
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return $nextState
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}
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# Create Velocity selector control
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set scobjNS ::scobj::velocity_selector
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set statusPath /sics/velsel_poller/status
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set velselPath /sics/velocity_selector
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hfactory $statusPath plain internal text
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hsetprop $statusPath read ${scobjNS}::getStatus
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hsetprop $statusPath rdState ${scobjNS}::rdState $velselPath $statusPath
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hsetprop $statusPath sendUID ${scobjNS}::sendUID $UID
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hsetprop $statusPath rdPwdChallenge ${scobjNS}::rdPwdChallenge
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hsetprop $statusPath sndPwd ${scobjNS}::sndPwd $PWD
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hsetprop $statusPath rdPwdAck ${scobjNS}::rdPwdAck
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hsetprop $statusPath oldval "UNKNOWN"
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hsetprop $statusPath oldstate "UNKNOWN"
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# Abstract status info for GumTree
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hfactory $velselPath/status plain spy text
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hset $velselPath/status "UNKNOWN"
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hsetprop $velselPath/status values busy,idle
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hfactory $velselPath/device_error plain spy text
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hset $velselPath/device_error ""
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# Must be set by user
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hfactory $velselPath/LambdaResFWHM_percent plain user float
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hfactory $velselPath/geometry plain spy none
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hfactory $velselPath/geometry/position plain spy none
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hfactory $velselPath/geometry/position/VelSelPosXmm plain user float
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hfactory $velselPath/geometry/position/VelSelPosYmm plain user float
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hfactory $velselPath/geometry/position/VelSelPosZmm plain user float
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hfactory $velselPath/geometry/position/VelSelCoordScheme plain user text
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# Get parameters from state report
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foreach par [lsort [array names paramindex]] {
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hfactory $velselPath/$par plain spy $paramtype($par)
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hsetprop $velselPath/$par read ${scobjNS}::getpar rdpar
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hsetprop $velselPath/$par rdpar ${scobjNS}::updatepar $statusPath $paramindex($par)
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hsetprop $velselPath/$par oldval "UNKNOWN"
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}
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# Initialise turntable command
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hfactory $velselPath/ttinit plain spy none
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hsetprop $velselPath/ttinit check ${scobjNS}::ttableCheck $statusPath ignore
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hsetprop $velselPath/ttinit write ${scobjNS}::sendCommand ignore
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hsetprop $velselPath/ttinit ignore ${scobjNS}::noResponse
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hsetprop $velselPath/ttinit values init
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# Set tilt angle
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# TODO Can we set "check" to test if angle is within range then chain to ttableCheck
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hfactory $velselPath/set_ttang plain spy float
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hsetprop $velselPath/set_ttang check ${scobjNS}::ttableCheck $statusPath ignore
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hsetprop $velselPath/set_ttang write ${scobjNS}::setPar TTANGL ignore
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hsetprop $velselPath/set_ttang ignore ${scobjNS}::noResponse
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# Get Lambda
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hfactory $velselPath/LambdaA plain spy float
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hsetprop $velselPath/LambdaA read ${scobjNS}::getpar rdpar
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hsetprop $velselPath/LambdaA rdpar ${scobjNS}::readLambda $statusPath
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hsetprop $velselPath/LambdaA oldval "UNKNOWN"
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# Set Lambda
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hfactory $velselPath/setLambdaA plain spy float
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hsetprop $velselPath/setLambdaA check ${scobjNS}::checkBlockedWavelengths $statusPath
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hsetprop $velselPath/setLambdaA write ${scobjNS}::setLambda $velselPath $statusPath ignore
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hsetprop $velselPath/setLambdaA ignore ${scobjNS}::noResponse
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hsetprop $velselPath/setLambdaA driving 0
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#TODO WARNING remove sicsdev and type if setLambdaA gets a drive addapter
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# hsetprop $velselPath/setLambdaA sicsdev "nvs_lambda"
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hsetprop $velselPath/setLambdaA type "drivable"
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hsetprop $velselPath/setLambdaA target 0
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hsetprop $velselPath/setLambdaA writestatus "UNKNOWN"
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|
|
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# Set speed
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hfactory $velselPath/setspeed plain spy int
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hsetprop $velselPath/setspeed check ${scobjNS}::checkBlockedSpeeds $statusPath
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hsetprop $velselPath/setspeed write ${scobjNS}::setSpeed $velselPath $statusPath ignore
|
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hsetprop $velselPath/setspeed ignore ${scobjNS}::noResponse
|
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hsetprop $velselPath/setspeed driving 0
|
|
hsetprop $velselPath/setspeed type "drivable"
|
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hsetprop $velselPath/setspeed target 0
|
|
hsetprop $velselPath/setspeed writestatus "UNKNOWN"
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|
|
|
# Stop velocity selector (brake or idle)
|
|
hfactory $velselPath/cmd plain spy text
|
|
hsetprop $velselPath/cmd write ${scobjNS}::sendCommand ignore
|
|
hsetprop $velselPath/cmd ignore ${scobjNS}::noResponse
|
|
hsetprop $velselPath/cmd values brake,idle
|
|
|
|
#XXX ::scobj::hinitprops velocity_selector
|
|
::scobj::set_required_props $velselPath
|
|
hsetprop $velselPath klass NXvelocity_selector
|
|
hsetprop $velselPath privilege spy
|
|
hsetprop $velselPath type part
|
|
hsetprop $velselPath control true
|
|
hsetprop $velselPath data true
|
|
hsetprop $velselPath/geometry klass NXgeometry
|
|
hsetprop $velselPath/geometry privilege spy
|
|
hsetprop $velselPath/geometry type instrument
|
|
hsetprop $velselPath/geometry data true
|
|
hsetprop $velselPath/geometry control true
|
|
hsetprop $velselPath/geometry/position klass NXtranslation
|
|
hsetprop $velselPath/geometry/position privilege spy
|
|
hsetprop $velselPath/geometry/position type instrument
|
|
hsetprop $velselPath/geometry/position data true
|
|
hsetprop $velselPath/geometry/position control true
|
|
foreach {hpath klass control data nxsave mutable priv alias} {
|
|
LambdaA parameter true true true true user velsel_lambdaa
|
|
LambdaResFWHM_percent parameter true true true true spy velsel_lambdaresfwhm_percent
|
|
rspeed parameter true true true true spy velsel_rspeed
|
|
aspeed parameter true true true true user velsel_aspeed
|
|
ttang parameter true true true true user velsel_ttang
|
|
ttinit parameter true false false true user velsel_ttang
|
|
geometry/position/VelSelPosXmm parameter true true true false user VelSelPosXmm
|
|
geometry/position/VelSelPosYmm parameter true true true false user VelSelPosYmm
|
|
geometry/position/VelSelPosZmm parameter true true true false user VelSelPosZmm
|
|
geometry/position/VelSelCoordScheme parameter true true true false user VelSelCoordScheme
|
|
} {
|
|
hsetprop $velselPath/$hpath nxalias $alias
|
|
hsetprop $velselPath/$hpath klass $klass
|
|
hsetprop $velselPath/$hpath privilege $priv
|
|
hsetprop $velselPath/$hpath control $control
|
|
hsetprop $velselPath/$hpath data $data
|
|
hsetprop $velselPath/$hpath nxsave $nxsave
|
|
hsetprop $velselPath/$hpath mutable $mutable
|
|
hsetprop $velselPath/$hpath sdsinfo ::nexus::scobj::sdsinfo
|
|
}
|
|
|
|
hsetprop $velselPath/setspeed checklimits ${scobjNS}::checkBlockedSpeeds $statusPath
|
|
hsetprop $velselPath/setspeed checkstatus ${scobjNS}::drivestatus
|
|
hsetprop $velselPath/setspeed halt ${scobjNS}::halt $velselPath
|
|
|
|
hsetprop $velselPath/setLambdaA checklimits ${scobjNS}::checkBlockedWavelengths $statusPath
|
|
hsetprop $velselPath/setLambdaA checkstatus ${scobjNS}::drivestatus
|
|
hsetprop $velselPath/setLambdaA halt ${scobjNS}::halt $velselPath
|
|
|
|
##
|
|
# @brief This is the position of the velocity selector bunker face. It is used
|
|
# as the reference for other positions. x=y=z=0.
|
|
hset $velselPath/geometry/position/VelSelPosXmm 0.0
|
|
hset $velselPath/geometry/position/VelSelPosYmm 0.0
|
|
hset $velselPath/geometry/position/VelSelPosZmm 0.0
|
|
hset $velselPath/geometry/position/VelSelCoordScheme "Cartesian"
|
|
|
|
|
|
|
|
proc sct_velsel_init {velselPath } {
|
|
variable pollrate
|
|
variable paramindex
|
|
|
|
foreach par [lsort [array names paramindex]] {
|
|
sct_velsel poll $velselPath/$par $pollrate
|
|
}
|
|
sct_velsel write $velselPath/ttinit
|
|
sct_velsel write $velselPath/set_ttang
|
|
sct_velsel poll $velselPath/LambdaA $pollrate
|
|
sct_velsel write $velselPath/setLambdaA
|
|
sct_velsel write $velselPath/setspeed
|
|
sct_velsel write $velselPath/cmd
|
|
ansto_makesctdrive nvs_speed $velselPath/setspeed $velselPath/aspeed sct_velsel
|
|
ansto_makesctdrive nvs_lambda $velselPath/setLambdaA $velselPath/LambdaA sct_velsel
|
|
}
|
|
if {$sim_mode == "false"} {
|
|
makesctcontroller sct_velsel astvelsel $velsel_IP:$velsel_port "" 10
|
|
sct_velsel poll $statusPath $pollrate
|
|
}
|
|
}
|