4a134cf2d0
Sort is ascending if cntsperx is positive, descending if negative. Improve error and report logs generated by genmotconf.tcl It is not an error if a missing attributed can be initialised with a default value by genmotconf.tcl. Replace the COLLIMATOR_POSITIONS.csv with Bilby_motion_control_commissioning_checklist.csv Generate new "generated_motor_configuration.tcl" file.
234 lines
8.7 KiB
Tcl
Executable File
234 lines
8.7 KiB
Tcl
Executable File
#!/usr/bin/env tclsh
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# @file Generate a motor configuration file from CSV files of name value pairs.
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#
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# Input: List of CSV files.
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# Output files:
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# generated_motor_configuration.tcl
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# genmotconf_report.log
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# genmotconf_errors.log: Lists missing attributes if a spec is incomplete.
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# missing_attlist.csv
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#
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# TODO
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# Optionally split configuration accross multiple files for cases where
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# axes are swapped out, eg Eulerian cradles, sample-stick rotation.
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# This could be done by supplying a file which contains lines as follows,
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# CFG_NAME1,m1 m2 m3
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# CFG_NAME2,m4 m5 m6
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# Where CFG_NAMEn is the name of a config file and mn's are motor names.
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# In this case generated_motor_configuration.tcl will define the header and asyncqueues.
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# The motor_configuration.tcl file would then be hand-coded to fileeval the CFG_NAMEn files as required.
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#
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source [file dirname $argv0]/genmotconf_procs.tcl
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set ERRCNT 0
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set MOTCFG_CNT 0
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set CANCFG_CNT 0
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set FAILED_MOTCFG_CNT 0
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# MOT_ATTLIST: Attributes required to configure an axis without an encoder
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# ENC_ATTLIST: Attributes required to describe an encoder.
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# NOTE Encoder readings for the limit switch positions are required.
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# If the encoder "absenchome" reading is not supplied it is set equal to rev_enc_lim
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# ENCMOT_ATTLIST: Attributes which describe an axis which has both a motor and encoder.
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# REQ_ATTLIST: List of attributes required to generate a configuration for a motor object.
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# SICS_CFG_MOTATTLIST: Extra attributes required to configure a motor object in SICS.
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# SICS_CFG_ENCMOTATTLIST: Extra attributes required to configure a motor object with an encoder in SICS.
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# ALL_ATTRIBUTES: List of all attributes recognised by this program.
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#
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# Attributes which are not in these lists are assumed to define the encoder
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# readings for each position on an axis which has a set of meaningful positions
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# such as apertures or multi-sample tables.
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set MOT_ATTLIST [lsort {axis mc steps_per_x}]
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set ENC_ATTLIST [lsort {cnts_per_x fwd_enc_lim rev_enc_lim}]
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set ENCMOT_ATTLIST [lsort [concat $MOT_ATTLIST $ENC_ATTLIST]]
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set SICS_CFG_MOTATTLIST [lsort {home fwd_lim rev_lim maxspeed maxaccel maxdecel part units}]
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set SICS_CFG_ENCMOTATTLIST [lsort [concat absenchome $SICS_CFG_MOTATTLIST]]
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set REQ_ATTLIST [lsort [concat $MOT_ATTLIST $SICS_CFG_MOTATTLIST]]
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set ALL_ATTRIBUTES [lsort [concat $ENCMOT_ATTLIST $SICS_CFG_ENCMOTATTLIST]]
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array set autogen_attarr {}
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set scriptname [file tail [file rootname $argv0]]
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set file_list $argv
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set fhr [open ${scriptname}_report.log "w"]
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set fhe [open ${scriptname}_errors.log "w"]
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# @brief Generate a default value for missing attributes.
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# @param mot motor name
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# @param att attribute name
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# @return value for attribute or NOATT if no attribute should be generated.
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proc gen_attval {mot att} {
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switch $att {
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"absenchome" {
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if [info exists ::${mot}_encatts(rev_enc_lim)] {
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return [set ::${mot}_encatts(rev_enc_lim)]
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} else {
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return "NOATT"
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}
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}
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"maxspeed" {return 1}
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"maxaccel" {return 1}
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"maxdecel" {return 1}
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"rev_lim" {return 0}
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"home" {return 0}
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"fwd_lim" {
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if { [info exists ::${mot}_encatts(fwd_enc_lim)] && [info exists ::${mot}_encatts(cnts_per_x)] } {
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set fwd_enc_lim_val [set ::${mot}_encatts(fwd_enc_lim)]
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set cnts_per_x_val [set ::${mot}_encatts(cnts_per_x)]
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if [info exists ::${mot}_encatts(rev_enc_lim)] {
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set rev_enc_lim_val [set ::${mot}_encatts(rev_enc_lim)]
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} else {
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set rev_enc_lim_val 0
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}
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if [info exists ::${mot}_encatts(home)] {
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set home_val [set ::${mot}_encatts(home)]
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} else {
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set home_val 0
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}
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return [expr {($fwd_enc_lim_val - $rev_enc_lim_val) / $cnts_per_x_val + $home_val}]
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} else {
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return 1
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}
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}
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"part" {return "instrument"}
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"units" {return "xxx"}
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}
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}
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################################################################################
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# Parse all files and generate ::mn(matt) and ::controllers(cn)
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foreach f $file_list {
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parse_file $f $fhr $fhe
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}
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################################################################################
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# GENERATE MOTOR CONFIGURATION FILE
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puts $fhr "GENERATE MOTOR CONFIGURATIONS"
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puts $fhe "GENERATE MOTOR CONFIGURATIONS"
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puts $fhe "Required attributes: $REQ_ATTLIST"
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set fhmc [open "generated_motor_configuration.tcl" "w"]
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# Write configuration file header and make asyncqueues
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mk_cfg_header $fhmc
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puts $fhmc ""
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foreach mn [lsort [array names motor_attcnt]] {
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set encmot_attlist [lsort [array names ${mn}_encatts]]
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set mot_attlist [lsort [concat [array names ${mn}_attarr] [array names ${mn}_encatts]]]
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set num_encatts_defined [llength $encmot_attlist]
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set posnum 0
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# Decide if a motor configuration should be generated.
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if [subset $ALL_ATTRIBUTES $mot_attlist] {
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set mk_config 1
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} elseif [subset $REQ_ATTLIST $mot_attlist] {
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set mk_config 1
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} else {
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set mk_config 0
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}
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# Does this motor have an absolute encoder?
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if {$num_encatts_defined > 0} {
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set absenc 1
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} else {
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set absenc 0
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}
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# Decide if a list missing attributes with default values should be written.
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if [subset $ENCMOT_ATTLIST $mot_attlist] {
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set mk_missing_atts 1
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} elseif [subset $MOT_ATTLIST $mot_attlist] {
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set mk_missing_atts 1
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} else {
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set mk_missing_atts 0
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}
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if [info exists ${mn}_encatts(cnts_per_x)] {
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# Assume that the values of any attributes we don't recognise are encoder
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# readings for a "posit" motor.
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set posit_list {}
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#TODO Sort posits by value can we take into acount if cnts_per_x is -ve or +ve?
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set posit_nameval_list {}
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foreach att [setdiff $mot_attlist $ALL_ATTRIBUTES] {
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lappend posit_nameval_list "$att [set ${mn}_attarr($att)]"
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}
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if {[llength $posit_nameval_list] > 0} {
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set posnum 0
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if { [set ${mn}_encatts(cnts_per_x)] > 0} {
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set sorted_nv_list [join [lsort -integer -increasing -index 1 $posit_nameval_list]]
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} else {
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set sorted_nv_list [join [lsort -integer -decreasing -index 1 $posit_nameval_list]]
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}
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foreach {att v} $sorted_nv_list {
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incr posnum
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lappend posit_list "posit_${posnum} \$${mn}_$att"
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puts "posit_${posnum} \$${mn}_$att = $v"
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}
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}
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}
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# Generate a motor configuration and/or a list of missing attributes.
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if ${mk_config} {
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mk_motconf $mn $fhmc $absenc $posnum posit_list
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puts $fhr "Configured $mn"
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incr MOTCFG_CNT
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} else {
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set missing_motatts [setdiff $MOT_ATTLIST $mot_attlist]
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set missing_encatts [setdiff $ENC_ATTLIST $encmot_attlist]
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set num_missing_motatts [llength $missing_motatts]
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set num_missing_encatts [llength $missing_encatts]
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if { $num_missing_encatts > 0 && $absenc} {
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puts $fhe "$mn: found partial config for an axis with an absolute encoder,"
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puts $fhe " need: ([concat $missing_motatts $missing_encatts]) to configure the $mn motor with an encoder"
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} elseif { $num_missing_motatts > 0 } {
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puts $fhe "$mn: found partial config for an axis,"
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puts $fhe " need: ($missing_motatts) to configure $mn motor"
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puts $fhe " also need: ($missing_encatts) if $mn has an encoder"
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}
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incr FAILED_MOTCFG_CNT
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incr ERRCNT
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if {$mk_missing_atts} {
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set undef_atts [setdiff [lsort "absenchome $SICS_CFG_MOTATTLIST"] $mot_attlist]
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foreach att $undef_atts {
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set attval [gen_attval $mn $att]
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if {$attval != "NOATT"} {
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lappend autogen_attarr($mn) "${mn}_$att,$attval"
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}
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}
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}
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}
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}
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# If there are any autogenerated attributes then write them to a file.
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if {[array size autogen_attarr] > 0} {
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set fh [open "missing_attlist.csv" "w"]
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puts "The attributes with default values needed to complete the configuration of the following motors has been written to missing_attlist.csv,"
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foreach n [lsort [array names autogen_attarr]] {
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puts -nonewline "$n "
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foreach attval [lsort $autogen_attarr($n)] {
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puts $fh $attval
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}
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}
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close $fh
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puts ""
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puts "Rename missing_attlist.csv and redo to generate a configuration file which also includes the motors listed above."
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puts "Eg,"
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puts "mv missing_attlist.csv sicsmot_attlist.csv"
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puts "$argv0 $argv sicsmot_attlist.csv"
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}
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# The SICS init code calls motor_set_sobj_attributes. It can be redefined in
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# the motor_configuration.tcl file.
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puts $fhmc "proc motor_set_sobj_attributes {} {}"
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puts stderr "Generated $MOTCFG_CNT motor driver configurations"
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puts $fhr "Generated $MOTCFG_CNT motor driver configurations"
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puts stderr "Found $FAILED_MOTCFG_CNT incomplete motor configurations. See ${scriptname}_errors.log and ${scriptname}_report.log"
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puts $fhe "Found $FAILED_MOTCFG_CNT incomplete motor configurations"
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close $fhmc
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close $fhr
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close $fhe
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if {$ERRCNT > 0} {
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puts stderr "Finished with $::ERRCNT errors"
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}
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