470 lines
19 KiB
Tcl
470 lines
19 KiB
Tcl
# Generated driver for tank
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# vim: ft=tcl tabstop=8 softtabstop=2 shiftwidth=2 nocindent smartindent
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#
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namespace eval ::scobj::tank {
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set debug_threshold 5
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}
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proc ::scobj::tank::debug_log {tc_root debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold [hgetpropval ${tc_root} debug_threshold]
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if {${debug_level} >= ${debug_threshold}} {
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set now [clock seconds]
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set ts [clock format ${now} -format "%Y%m%d"]
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set log_file_name "../log/tank_[basename ${tc_root}]_${ts}.log"
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set fd [open "${log_file_name}" "a"]
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set ts [clock format ${now} -format "%T"]
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puts ${fd} "${ts} ${debug_string}"
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close ${fd}
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}
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} catch_message ]
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}
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proc ::scobj::tank::sics_log {debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold ${::scobj::tank::debug_threshold}
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if {${debug_level} >= ${debug_threshold}} {
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sicslog "::scobj::tank::${debug_string}"
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}
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} catch_message ]
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}
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# check function for hset change
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proc ::scobj::tank::checkrange {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
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set setpoint [sct target]
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if { [hpropexists [sct] lowerlimit] } {
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set lolimit [sct lowerlimit]
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} else {
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# lowerlimit not set, use target
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set lolimit [sct target]
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}
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if { [hpropexists [sct] upperlimit] } {
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set hilimit [sct upperlimit]
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} else {
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# upperlimit not set, use target
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set hilimit [sct target]
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}
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# checkrange hook code goes here
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if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
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error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
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}
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return OK
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to request the read of a parameter on a device
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proc ::scobj::tank::getValue {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "getValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set cmd "${cmd_str}"
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# getValue hook code goes here
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debug_log ${tc_root} 1 "getValue sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to check the write parameter on a device
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proc ::scobj::tank::noResponse {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
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# noResponse hook code goes here
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return "idle"
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to parse the read of a parameter on a device
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proc ::scobj::tank::read_pos {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "read_pos tc_root=${tc_root} sct=[sct] result=[sct result]"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set data [sct result]
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set nextState "idle"
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if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
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# the protocol driver has reported an error
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sct geterror "${data}"
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error "[sct geterror]"
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}
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# read_pos hook code starts
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global tank_absenchome tank_cnts_per_x tank_home
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if { [string equal -nocase -length 1 "${data}" "?"] } {
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sct geterror "Galil error in: '${data}'"
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} else {
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set data_list [split [string trim "${data}"]]
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if { [llength ${data_list}] > 1 && [lindex ${data_list} end] == ":" } {
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set data_list [lrange ${data_list} 0 0]
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}
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if { [llength ${data_list}] == 1 } {
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set absenc [unpad [lindex ${data_list} 0]]
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set data [expr {($absenc - $tank_absenchome) / $tank_cnts_per_x + $tank_home}]
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vessel_y $data
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} else {
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sct geterror "Syntax error in: '${data}'=>'${data_list}'"
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}
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}
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# read_pos hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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if { ${data} != [sct oldval] } {
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[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 ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to parse the read of a parameter on a device
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proc ::scobj::tank::read_switch {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "read_switch tc_root=${tc_root} sct=[sct] result=[sct result]"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set data [sct result]
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set nextState "idle"
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if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
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# the protocol driver has reported an error
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sct geterror "${data}"
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error "[sct geterror]"
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}
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# read_switch hook code starts
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if { [string equal -nocase -length 1 "${data}" "?"] } {
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sct geterror "Galil error in: '${data}'"
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} else {
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set data_list [split [string trim "${data}"]]
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if { [llength ${data_list}] > 1 && [lindex ${data_list} end] == ":" } {
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set data_list [lrange ${data_list} 0 0]
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}
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if { [llength ${data_list}] == 1 } {
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set left [expr [lindex ${data_list} 0]]
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if { ${left} == 1 } { # open
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set data "open"
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} else { # closed
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set data "closed"
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}
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} else {
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sct geterror "Syntax error in: '${data}'=>'${data_list}'"
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}
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}
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# read_switch hook code ends
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if { [hpropexists [sct] geterror] } {
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debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
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error "[sct geterror]"
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}
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if { ${data} != [sct oldval] } {
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debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[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 ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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# function to write a parameter value on a device
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proc ::scobj::tank::setValue {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "setValue tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
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if { [hpropexists [sct] geterror] } {
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hdelprop [sct] geterror
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}
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set par [sct target]
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set cmd "${cmd_str}${par}"
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# setValue hook code goes here
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if { [hpropexists [sct] driving] } {
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if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
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sct driving 1
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}
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}
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debug_log ${tc_root} 1 "setValue sct send ${cmd}"
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if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
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sct send "${cmd}"
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}
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return ${nextState}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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proc ::scobj::tank::mkDriver { sct_controller name device_class simulation_flag ip_address tcp_port } {
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::scobj::tank::sics_log 9 "::scobj::tank::mkDriver ${sct_controller} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
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set ns "[namespace current]"
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set catch_status [ catch {
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MakeSICSObj ${name} SCT_OBJECT
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sicslist setatt ${name} klass ${device_class}
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sicslist setatt ${name} long_name ${name}
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set scobj_hpath /sics/${name}
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hfactory ${scobj_hpath}/pos plain spy float
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hsetprop ${scobj_hpath}/pos read ${ns}::getValue ${scobj_hpath} read_pos {MG _TPH}
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hsetprop ${scobj_hpath}/pos read_pos ${ns}::read_pos ${scobj_hpath}
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hsetprop ${scobj_hpath}/pos control true
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hsetprop ${scobj_hpath}/pos data true
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hsetprop ${scobj_hpath}/pos mutable true
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hsetprop ${scobj_hpath}/pos nxsave true
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hsetprop ${scobj_hpath}/pos oldval 0.0
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hsetprop ${scobj_hpath}/pos klass "parameter"
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hsetprop ${scobj_hpath}/pos sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/pos type "part"
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hsetprop ${scobj_hpath}/pos nxalias "${name}_pos"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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${sct_controller} poll ${scobj_hpath}/pos 1
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hsetprop ${scobj_hpath}/pos simulated false
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} else {
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::scobj::tank::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for tank"
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hsetprop ${scobj_hpath}/pos simulated true
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}
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hsetprop ${scobj_hpath} data "true"
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hsetprop ${scobj_hpath} klass "@none"
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hsetprop ${scobj_hpath} type "part"
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hfactory ${scobj_hpath}/limits plain spy none
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hfactory ${scobj_hpath}/limits/forward plain user text
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hsetprop ${scobj_hpath}/limits/forward read ${ns}::getValue ${scobj_hpath} read_switch {MG _LFH}
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hsetprop ${scobj_hpath}/limits/forward read_switch ${ns}::read_switch ${scobj_hpath}
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hsetprop ${scobj_hpath}/limits/forward control true
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hsetprop ${scobj_hpath}/limits/forward data true
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hsetprop ${scobj_hpath}/limits/forward mutable true
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hsetprop ${scobj_hpath}/limits/forward nxsave true
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hsetprop ${scobj_hpath}/limits/forward oldval UNKNOWN
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hsetprop ${scobj_hpath}/limits/forward klass "parameter"
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hsetprop ${scobj_hpath}/limits/forward sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/limits/forward type "part"
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hsetprop ${scobj_hpath}/limits/forward nxalias "${name}_limits_forward"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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${sct_controller} poll ${scobj_hpath}/limits/forward 1
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hsetprop ${scobj_hpath}/limits/forward simulated false
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} else {
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::scobj::tank::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for tank"
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hsetprop ${scobj_hpath}/limits/forward simulated true
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}
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hfactory ${scobj_hpath}/limits/reverse plain user text
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hsetprop ${scobj_hpath}/limits/reverse read ${ns}::getValue ${scobj_hpath} read_switch {MG _LRH}
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hsetprop ${scobj_hpath}/limits/reverse read_switch ${ns}::read_switch ${scobj_hpath}
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hsetprop ${scobj_hpath}/limits/reverse control true
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hsetprop ${scobj_hpath}/limits/reverse data true
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hsetprop ${scobj_hpath}/limits/reverse mutable true
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hsetprop ${scobj_hpath}/limits/reverse nxsave true
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hsetprop ${scobj_hpath}/limits/reverse oldval UNKNOWN
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hsetprop ${scobj_hpath}/limits/reverse klass "parameter"
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hsetprop ${scobj_hpath}/limits/reverse sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/limits/reverse type "part"
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hsetprop ${scobj_hpath}/limits/reverse nxalias "${name}_limits_reverse"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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${sct_controller} poll ${scobj_hpath}/limits/reverse 1
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hsetprop ${scobj_hpath}/limits/reverse simulated false
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} else {
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::scobj::tank::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for tank"
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hsetprop ${scobj_hpath}/limits/reverse simulated true
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}
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hsetprop ${scobj_hpath}/limits data "true"
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hsetprop ${scobj_hpath}/limits klass "@none"
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hsetprop ${scobj_hpath}/limits type "part"
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hfactory ${scobj_hpath}/switches plain spy none
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hfactory ${scobj_hpath}/switches/forward plain user text
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hsetprop ${scobj_hpath}/switches/forward read ${ns}::getValue ${scobj_hpath} read_switch {MG @IN[5]}
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hsetprop ${scobj_hpath}/switches/forward read_switch ${ns}::read_switch ${scobj_hpath}
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hsetprop ${scobj_hpath}/switches/forward control true
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hsetprop ${scobj_hpath}/switches/forward data true
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hsetprop ${scobj_hpath}/switches/forward mutable true
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hsetprop ${scobj_hpath}/switches/forward nxsave true
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hsetprop ${scobj_hpath}/switches/forward oldval UNKNOWN
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hsetprop ${scobj_hpath}/switches/forward klass "parameter"
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hsetprop ${scobj_hpath}/switches/forward sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/switches/forward type "part"
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hsetprop ${scobj_hpath}/switches/forward nxalias "${name}_switches_forward"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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${sct_controller} poll ${scobj_hpath}/switches/forward 1
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hsetprop ${scobj_hpath}/switches/forward simulated false
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} else {
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::scobj::tank::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for tank"
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hsetprop ${scobj_hpath}/switches/forward simulated true
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}
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hfactory ${scobj_hpath}/switches/reverse plain user text
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hsetprop ${scobj_hpath}/switches/reverse read ${ns}::getValue ${scobj_hpath} read_switch {MG @IN[6]}
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hsetprop ${scobj_hpath}/switches/reverse read_switch ${ns}::read_switch ${scobj_hpath}
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hsetprop ${scobj_hpath}/switches/reverse control true
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hsetprop ${scobj_hpath}/switches/reverse data true
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hsetprop ${scobj_hpath}/switches/reverse mutable true
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hsetprop ${scobj_hpath}/switches/reverse nxsave true
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hsetprop ${scobj_hpath}/switches/reverse oldval UNKNOWN
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hsetprop ${scobj_hpath}/switches/reverse klass "parameter"
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hsetprop ${scobj_hpath}/switches/reverse sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/switches/reverse type "part"
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hsetprop ${scobj_hpath}/switches/reverse nxalias "${name}_switches_reverse"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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${sct_controller} poll ${scobj_hpath}/switches/reverse 1
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hsetprop ${scobj_hpath}/switches/reverse simulated false
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} else {
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::scobj::tank::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for tank"
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hsetprop ${scobj_hpath}/switches/reverse simulated true
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}
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hsetprop ${scobj_hpath}/switches data "true"
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hsetprop ${scobj_hpath}/switches klass "@none"
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hsetprop ${scobj_hpath}/switches type "part"
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hsetprop ${scobj_hpath} klass ${device_class}
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hsetprop ${scobj_hpath} data true
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hsetprop ${scobj_hpath} debug_threshold 5
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# mkDriver hook code starts
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::utility::mkVar vessel_y float user vessel_y true instrument true true
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sicslist setatt vessel_y klass instrument
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sicslist setatt vessel_y mutable true
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# mkDriver hook code ends
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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proc ::scobj::tank::add_driver {name device_class simulation_flag ip_address tcp_port} {
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set catch_status [ catch {
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::scobj::tank::sics_log 9 "::scobj::tank::add_driver ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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if {[string equal -nocase "aqadapter" "${ip_address}"]} {
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::scobj::tank::sics_log 9 "makesctcontroller sct_${name} aqadapter ${tcp_port}"
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makesctcontroller sct_${name} aqadapter ${tcp_port}
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} else {
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::scobj::tank::sics_log 9 "makesctcontroller sct_${name} dmc2280 ${ip_address}:${tcp_port}"
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makesctcontroller sct_${name} dmc2280 ${ip_address}:${tcp_port}
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}
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} else {
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::scobj::tank::sics_log 9 "simulation_flag=${simulation_flag} => Null sctcontroller for tank"
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::scobj::tank::sics_log 9 "makesctcontroller sct_${name} aqadapter NULL"
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makesctcontroller sct_${name} aqadapter NULL
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}
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::scobj::tank::sics_log 1 "::scobj::tank::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
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::scobj::tank::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}
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} catch_message ]
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handle_exception ${catch_status} ${catch_message}
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}
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namespace eval ::scobj::tank {
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namespace export debug_threshold
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namespace export debug_log
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namespace export sics_log
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namespace export mkDriver
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namespace export add_driver
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}
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proc add_tank {name ip_address tcp_port} {
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set simulation_flag "[string tolower [SplitReply [motor_simulation]]]"
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::scobj::tank::add_driver ${name} "instrument" ${simulation_flag} ${ip_address} ${tcp_port}
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}
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clientput "file evaluation of tank_sct.tcl"
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::scobj::tank::sics_log 9 "file evaluation of tank_sct.tcl"
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proc ::scobj::tank::read_config {} {
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set catch_status [ catch {
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set ns "::scobj::tank"
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dict for {k u} $::config_dict {
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if { [dict exists $u "implementation"] } {
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set simulation_flag "[string tolower [SplitReply [motor_simulation]]]"
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set device_class "instrument"
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if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
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continue
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}
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set enabled [string tolower [dict get $u "enabled"]]
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if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
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continue
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}
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if { [dict exists $u "simulation_group"] } {
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set simulation_flag [SplitReply [[string tolower [dict get $u "simulation_group"]]]]
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}
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if { [dict exists $u "device_class"] } {
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set device_class "[dict get $u "device_class"]"
|
|
}
|
|
set name [dict get $u name]
|
|
set implementation [dict get $u "implementation"]
|
|
if { !([dict exists $::config_dict $implementation]) } {
|
|
continue
|
|
}
|
|
set v [dict get $::config_dict $implementation]
|
|
if { !([dict exists $v "driver"]) } {
|
|
continue
|
|
}
|
|
if { [string equal -nocase [dict get $v "driver"] "tank"] } {
|
|
if { ![string equal -nocase "${simulation_flag}" "false"] } {
|
|
set asyncqueue "null"
|
|
${ns}::sics_log 9 "simulation_flag=${simulation_flag} => using null asyncqueue"
|
|
${ns}::sics_log 9 "makesctcontroller sct_${name} aqadapter NULL"
|
|
makesctcontroller sct_${name} aqadapter NULL
|
|
} elseif { [dict exists $v "asyncqueue"] } {
|
|
set asyncqueue [dict get $v "asyncqueue"]
|
|
if { [string equal -nocase ${asyncqueue} "sct"] } {
|
|
set ip_address [dict get $v ip]
|
|
set tcp_port [dict get $v port]
|
|
makesctcontroller sct_${name} dmc2280 ${ip_address}:${tcp_port}
|
|
} else {
|
|
makesctcontroller sct_${name} aqadapter ${asyncqueue}
|
|
}
|
|
} else {
|
|
if { [dict exists $v "asyncprotocol"] } {
|
|
set asyncprotocol [dict get $v "asyncprotocol"]
|
|
} else {
|
|
set asyncprotocol ${name}_protocol
|
|
MakeAsyncProtocol ${asyncprotocol}
|
|
if { [dict exists $v "sendterminator"] } {
|
|
${asyncprotocol} sendterminator "[dict get $v "sendterminator"]"
|
|
} elseif { [dict exists $v "terminator"] } {
|
|
${asyncprotocol} sendterminator "[dict get $v "terminator"]"
|
|
}
|
|
if { [dict exists $v "replyterminator"] } {
|
|
${asyncprotocol} replyterminator "[dict get $v "replyterminator"]"
|
|
} elseif { [dict exists $v "terminator"] } {
|
|
${asyncprotocol} replyterminator "[dict get $v "terminator"]"
|
|
}
|
|
}
|
|
set asyncqueue ${name}_queue
|
|
set ip_address [dict get $v ip]
|
|
set tcp_port [dict get $v port]
|
|
MakeAsyncQueue ${asyncqueue} ${asyncprotocol} ${ip_address} ${tcp_port}
|
|
if { [dict exists $v "timeout"] } {
|
|
${asyncqueue} timeout "[dict get $v "timeout"]"
|
|
}
|
|
makesctcontroller sct_${name} aqadapter ${asyncqueue}
|
|
}
|
|
${ns}::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}
|
|
}
|
|
}
|
|
}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
if { [info exists ::config_dict] } {
|
|
::scobj::tank::read_config
|
|
} else {
|
|
::scobj::tank::sics_log 5 "No config dict"
|
|
}
|