483 lines
14 KiB
Tcl
483 lines
14 KiB
Tcl
#
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# Template driver for the Knauer BlueShadow Pump 40P
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# vim: ft=tcl ts=8 sts=2 sw=2 expandtab autoindent smartindent nocindent
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#
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driver knauer_pump = {
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debug_threshold = 0;
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vendor = knauer; device = pump40p; protocol = knauer_ap;
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class = environment;
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simulation_group = environment_simulation;
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#
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group dummy = {
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type = text; readable = 1; data = false; control = false; nxsave = false;
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var status = { read_command = 'STATUS?'; read_function = read_status; property real_data = ' '; }
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var glp = { read_command = 'GLP?'; read_function = read_glp; property real_data = ' '; }
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}
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group pump = {
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var remote = {
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type = int;
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readable = 1; read_command = 'REMOTE?'; read_function = remote_read;
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writeable = 1; write_function = remote_write;
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allowed = '0,1';
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}
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var state = {
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type = text;
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readable = 1;
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read_command = ' ';
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fetch_function = state_fetch;
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}
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var status = {
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type = text;
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readable = 1;
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read_command = ' ';
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fetch_function = status_fetch;
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}
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group volume = {
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var pval = {
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type = float;
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readable = 1;
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read_command = ' ';
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fetch_function = volume_fetch;
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#checkrange_function = volume_reject;
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property 'units' = 'mL';
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}
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var setp = {
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type = float;
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writeable = 1;
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write_command = ' ';
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write_function = pump_write;
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driveable = pump/volume/pval;
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checkstatus_function = pump_checkstatus;
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halt_function = pump_halt;
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lowerlimit = 0; upperlimit = 100; tolerance = 0.01;
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readable = 1;
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read_command = ' ';
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fetch_function = pump_fetch;
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property 'units' = 'mL';
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property this_state = 0;
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}
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}
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group ratio = {
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var pval = {
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type = text;
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readable = 1; read_command = ' '; fetch_function = ratio_fetch;
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property 'units' = 'percent';
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}
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var setp = {
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type = text;
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value = '25/25/25/25';
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writeable = 1; write_command = ' '; write_function = ratio_write; checkrange_function = ratio_check;
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property 'units' = 'percent';
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}
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}
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group flow = {
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var pval = {
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type = float;
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readable = 1; read_command = ' '; fetch_function = flow_fetch;
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property 'units' = 'mL/min';
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}
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var setp = {
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type = float;
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value = 1.0;
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writeable = 1; write_command = ' '; write_function = flow_write;
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lowerlimit = 0; upperlimit = 10;
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property 'units' = 'mL/min';
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}
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}
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}
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group grp_stuff = {
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readable = 600;
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type = text;
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data = false; control = false; nxsave = false;
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var an_out = { read_command = 'AN_OUT?'; }
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var boardinfo = { read_command = 'BOARDINFO?'; }
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var config = { read_command = 'CONFIG?'; }
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var cprofinfo = { read_command = 'CPROFINFO?'; }
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var dout = { read_command = 'DOUT?'; }
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var error = { read_command = 'ERROR?'; }
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var errors = { read_command = 'ERRORS?'; }
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var flushpmp = { read_command = 'FLUSHPMP?'; }
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var head = { read_command = 'HEAD?'; }
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var head_par = { read_command = 'HEAD_PAR?'; }
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var identify = { read_command = 'IDENTIFY?'; }
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var lpg = { read_command = 'LPG?'; }
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var oem = { read_command = 'OEM?'; }
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var opt = { read_command = 'OPT?'; }
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var plim = { read_command = 'PLIM?'; }
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var pressure = { read_command = 'PRESSURE?'; }
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var prfastacq = { read_command = 'PRFASTACQ?'; }
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var purge = { read_command = 'PURGE?'; }
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var remote = { read_command = 'REMOTE?'; }
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var rfid = { read_command = 'RFID?'; }
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var service = { read_command = 'SERVICE?'; }
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var sysinfo = { read_command = 'SYSINFO?'; }
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var 'units' = { read_command = 'UNITS?'; }
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var valves = { read_command = 'VALVES?'; }
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}
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group grp_glp = {
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type = text;
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readable = 1;
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fetch_function = fetch_from_glp;
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var board_time = { read_command = '0'; }
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var motor_time = { read_command = '1'; }
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var head_count = { read_command = '3'; }
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var head_time = { read_command = '4'; }
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var head_volm = { read_command = '5'; }
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var head_voln = { read_command = '6'; }
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var head_pwrhi = { read_command = '7'; }
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var head_pwrlo = { read_command = '8'; }
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var pump_revs = { read_command = '9'; }
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var pump_volm = { read_command = '10'; }
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var pump_voln = { read_command = '11'; }
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var pump_pwrhi = { read_command = '12'; }
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var pump_pwrlo = { read_command = '13'; }
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}
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group grp_status = {
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type = text;
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readable = 1;
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fetch_function = fetch_from_status;
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var state = { read_command = '1'; }
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var cur_error = { read_command = '2'; }
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var cur_run_time = { read_command = '3'; }
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var flow_rate = { read_command = '4'; }
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var lpg_0 = { read_command = '5'; }
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var lpg_1 = { read_command = '6'; }
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var lpg_2 = { read_command = '7'; }
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var lpg_3 = { read_command = '8'; }
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var evt_0 = { read_command = '9'; }
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var evt_1 = { read_command = '10'; }
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var evt_2 = { read_command = '11'; }
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var evt_3 = { read_command = '12'; }
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var evt_4 = { read_command = '13'; }
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var evt_5 = { read_command = '14'; }
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var evt_6 = { read_command = '15'; }
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var evt_7 = { read_command = '16'; }
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var cur_pres = { read_command = '17'; }
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var start_in = { read_command = '18'; }
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var error_in = { read_command = '19'; }
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}
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#
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# Ensure the pump starts up in REMOTE mode
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#
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code mkDriver = {%%
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hset ${scobj_hpath}/pump/remote 1
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%%}
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#
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# These functions handle the real_data returned by the pump for the GLP? command
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#
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code read_glp = {%%
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if { [string equal -nocase -length 6 ${data} "ERROR:"] } {
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} else {
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set dlist [split [lindex [split ${data} ":"] 1] ","]
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sct real_data "[join [lrange ${dlist} 0 end] ,]"
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set data "Hidden in real_data property"
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}
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%%}
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code fetch_from_glp = {%%
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set index ${cmd_str}
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set data [hgetpropval ${tc_root}/dummy/glp real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > ${index} } {
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sct result [lindex ${dlist} ${index}]
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} else {
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sct result ""
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}
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set cmd "@@NOSEND@@"
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%%}
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#
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# These functions handle the real_data returned by the pump for the STATUS? command
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#
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code read_status = {%%
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set dlist [split [lindex [split ${data} ":"] 1] ","]
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sct real_data "[join [lrange ${dlist} 0 end] ,]"
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set data "Hidden in real_data property"
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%%}
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code fetch_from_status = {%%
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set index ${cmd_str}
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > ${index} } {
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sct result [lindex ${dlist} ${index}]
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} else {
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sct result ""
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}
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set cmd "@@NOSEND@@"
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%%}
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#
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# Decode the status from the real_data to PUMPING if it is pumping else IDLE
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#
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code status_fetch = {%%
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set index 1
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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set status_code [lindex ${dlist} ${index}]
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set cmd "@@NOSEND@@"
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if { ${status_code} == 3 } {
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sct result "PUMPING"
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} else {
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sct result "IDLE"
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}
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%%}
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#
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# Decode the state from the real_data to one of the documented strings
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#
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code state_fetch = {%%
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set index 1
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > ${index} } {
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set state_code [lindex ${dlist} ${index}]
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} else {
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set state_code "0"
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}
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set cmd "@@NOSEND@@"
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if { ${state_code} < 0 || ${state_code} > 9 } {
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sct geterror "Invalid device_state ${state_code}"
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error "[sct geterror]"
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}
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set slist [list "SYS_ST_INITIALIZING" \
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"SYS_ST_OFF" \
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"SYS_ST_IDLE" \
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"SYS_ST_RUN" \
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"SYS_ST_HOLD" \
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"SYS_ST_PURGE" \
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"SYS_ST_STANDBY" \
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"SYS_ST_FAILED" \
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"SYS_ST_RUNATEND" \
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]
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sct result [lindex ${slist} ${state_code}]
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%%}
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#
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#
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code flow_fetch = {%%
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set index 4
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > ${index} } {
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set flow_pv [lindex ${dlist} 4]
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} else {
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set flow_pv 0.0
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}
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sct result [expr {0.001 * ${flow_pv}}]
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set cmd "@@NOSEND@@"
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%%}
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code flow_write = {%%
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set data [sct target]
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set cmd "@@NOSEND@@"
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set nextState idle
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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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%%}
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#
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#
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code ratio_check = {%%
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set rlist [split ${setpoint} /]
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if { [llength ${rlist}] != 4 } {
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sct geterror "${setpoint} has [llength ${rlist}] components, needs 4"
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error [sct geterror]
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}
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set sum [expr [lindex ${rlist} 0] + [lindex ${rlist} 1] + [lindex ${rlist} 2] + [lindex ${rlist} 3]]
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if { ${sum} != 100 } {
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sct geterror "sum is ${sum}, must be 100"
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error [sct geterror]
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}
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%%}
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code ratio_fetch = {%%
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set data [hgetpropval ${tc_root}/dummy/status real_data]
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set dlist [split ${data} ","]
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set ratio_vals "[lindex ${dlist} 5]/[lindex ${dlist} 6]/[lindex ${dlist} 7]/[lindex ${dlist} 8]"
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sct result ${ratio_vals}
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set cmd "@@NOSEND@@"
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%%}
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code ratio_write = {%%
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set data [sct target]
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set cmd "@@NOSEND@@"
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set nextState idle
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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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%%}
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#
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#
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code remote_read = {%%
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if { [string equal -length 7 ${data} "REMOTE:"] } {
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set data [lindex [split ${data} :] 1]
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} else {
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sct geterror "bad response"
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error "[sct geterror]"
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}
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%%}
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code remote_write = {%%
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if { ${par} == 0 } {
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set cmd "LOCAL"
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} else {
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set cmd "REMOTE"
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}
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%%}
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#
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#
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code volume_fetch = {%%
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set data [hgetpropval ${tc_root}/dummy/glp real_data]
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set dlist [split ${data} ","]
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if { [llength ${dlist}] > 11 } {
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set pump_volm [lindex ${dlist} 10]
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set pump_voln [lindex ${dlist} 11]
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set pump_volume [expr {${pump_volm} + 0.000001 * ${pump_voln}}]
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} else {
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set pump_volume 0.0
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}
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sct raw_volume ${pump_volume}
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if { [hpropexists [sct] base_volume] } {
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set pump_volume [expr {${pump_volume} - [sct base_volume]}]
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} elseif { [hpropexists [sct] raw_volume] } {
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sct base_volume [sct raw_volume]
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}
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sct result [format "%.2f" ${pump_volume}]
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set cmd "@@NOSEND@@"
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%%}
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##########
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code pump_write = {%%
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hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
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hset ${tc_root}/[sct driveable] 0.0
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set cmd "REMOTE"
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sct this_state 1
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sct pumping 1
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set data ${par}
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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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%%}
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code pump_fetch = {%%
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if { [sct this_state] > 0 } {
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set flow_tgt [expr {int(1000.0 * [hval ${tc_root}/pump/flow/setp])}]
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio/setp] /] ,]
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set time_tgt [expr {int(60000.0 * 1000.0 * [sct target] / ${flow_tgt})}]
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set time_1 [expr {${time_tgt} - 500}]
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set time_2 [expr {${time_tgt} + 500}]
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set nextState noResponse
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if { [sct this_state] == 1 } {
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set cmd "TT_LOAD:1"
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sct this_state [expr {[sct this_state] + 1}]
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} elseif { [sct this_state] == 2 } {
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set cmd "TT_SET:0,0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
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sct this_state [expr {[sct this_state] + 1}]
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} elseif { [sct this_state] == 3 } {
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set cmd "TT_SET:1,${time_1},${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0"
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sct this_state [expr {[sct this_state] + 1}]
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} elseif { [sct this_state] == 4 } {
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set cmd "TT_SET:2,${time_2},0,${ratio_tgt},0,0,0,0,0,0,0,0"
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sct this_state [expr {[sct this_state] + 1}]
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} elseif { [sct this_state] == 5 } {
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set cmd "START:1,0"
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sct this_state 0
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} else {
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sct this_state 0
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set cmd "@@NOSEND@@"
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set nextState idle
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}
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} else {
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set cmd "@@NOSEND@@"
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set nextState idle
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if { [hpropexists [sct] pumping] && [sct pumping] } {
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if { [hpropexists [sct] driving] && [sct driving] } {
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pump_checkstatus "${tc_root}"
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}
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set new_value [hval ${tc_root}/pump/status]
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set old_value [sct oldval]
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if {${new_value} != ${old_value}} {
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sct oldval ${new_value}
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if {${old_value} == "PUMPING" && ${new_value} == "IDLE"} {
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set cmd "STOP"
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set nextState noResponse
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sct result ""
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sct driving 0
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sct pumping 0
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}
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}
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}
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}
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%%}
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code pump_halt = {%%
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set flow_tgt 0
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
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set cmd "STOP"
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sct send ${cmd}
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%%}
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##########
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code volume_write = {%%
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hsetprop ${tc_root}/[sct driveable] base_volume [hgetpropval ${tc_root}/[sct driveable] raw_volume]
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hset ${tc_root}/[sct driveable] 0.0
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set flow_tgt [expr {int(1000.0 * [hval ${tc_root}/pump/flow_sp])}]
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
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set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,3"
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sct pumping 1
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set data ${par}
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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 ${data}
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sct utime readtime
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}
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%%}
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code volume_checkpumping = {%%
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set cmd "@@NOSEND@@"
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set nextState idle
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if { [hpropexists [sct] pumping] && [sct pumping] } {
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if { [hpropexists [sct] driving] && [sct driving] } {
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volume_checkstatus "${tc_root}"
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}
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set sp "[sct target]"
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set pv "[hval ${tc_root}/[sct driveable]]"
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if { (${sp} - ${pv}) <= [sct tolerance] } {
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set flow_tgt 0
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set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
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set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
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set nextState noResponse
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sct result ""
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sct driving 0
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sct pumping 0
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}
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}
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%%}
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|
|
|
code volume_halt = {%%
|
|
set flow_tgt 0
|
|
set ratio_tgt [join [split [hval ${tc_root}/pump/ratio_sp] /] ,]
|
|
set cmd "RAMP:0,${flow_tgt},${ratio_tgt},0,0,0,0,0,0,0,0,2"
|
|
sct send ${cmd}
|
|
%%}
|
|
|
|
code volume_reject = {%%
|
|
sct geterror "cannot use hset on [sct]"
|
|
error "[sct geterror]"
|
|
%%}
|
|
}
|