912 lines
43 KiB
Tcl
912 lines
43 KiB
Tcl
# Generated driver for aerolas_doppler
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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::aerolas_doppler {
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set debug_threshold 5
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}
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proc ::scobj::aerolas_doppler::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/aerolas_doppler_[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::aerolas_doppler::sics_log {debug_level debug_string} {
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set catch_status [ catch {
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set debug_threshold ${::scobj::aerolas_doppler::debug_threshold}
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if {${debug_level} >= ${debug_threshold}} {
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sicslog "::scobj::aerolas_doppler::${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::aerolas_doppler::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::aerolas_doppler::getFloat {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "getFloat tc_root=${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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# getFloat hook code starts
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set cmd "1:3:${cmd_str}:1:F32"
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# getFloat 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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debug_log ${tc_root} 1 "getFloat 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 request the read of a parameter on a device
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proc ::scobj::aerolas_doppler::getULong {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "getULong tc_root=${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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# getULong hook code starts
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set cmd "1:3:${cmd_str}:1:U32"
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# getULong 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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debug_log ${tc_root} 1 "getULong 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 request the read of a parameter on a device
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proc ::scobj::aerolas_doppler::getUShort {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "getUShort tc_root=${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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# getUShort hook code starts
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set cmd "1:3:${cmd_str}:1:U16"
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# getUShort 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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debug_log ${tc_root} 1 "getUShort 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::aerolas_doppler::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::aerolas_doppler::rdFloat {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "rdFloat tc_root=${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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# rdFloat hook code goes here
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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::aerolas_doppler::rdULong {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "rdULong tc_root=${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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# rdULong hook code goes here
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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::aerolas_doppler::rdUShort {tc_root} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "rdUShort tc_root=${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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# rdUShort hook code goes here
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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::aerolas_doppler::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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# function to write a parameter value on a device
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proc ::scobj::aerolas_doppler::wrFloat {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "wrFloat tc_root=${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}${par}"
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# wrFloat hook code starts
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set cmd "1:16:${cmd_str}:1:F32:${par}"
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# wrFloat 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 { [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 "wrFloat 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 write a parameter value on a device
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proc ::scobj::aerolas_doppler::wrULong {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "wrULong tc_root=${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}${par}"
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# wrULong hook code starts
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set cmd "1:16:${cmd_str}:1:U32:${par}"
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# wrULong 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 { [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 "wrULong 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 write a parameter value on a device
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proc ::scobj::aerolas_doppler::wrUShort {tc_root nextState cmd_str} {
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set catch_status [ catch {
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debug_log ${tc_root} 1 "wrUShort tc_root=${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}${par}"
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# wrUShort hook code starts
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set cmd "1:16:${cmd_str}:1:U16:${par}"
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# wrUShort 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 { [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 "wrUShort 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::aerolas_doppler::mkDriver { sct_controller name device_class simulation_flag ip_address tcp_port } {
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::scobj::aerolas_doppler::sics_log 9 "::scobj::aerolas_doppler::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} driver aerolas_doppler
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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}/amplitude plain user float
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hsetprop ${scobj_hpath}/amplitude read ${ns}::getFloat ${scobj_hpath} rdFloat {2}
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hsetprop ${scobj_hpath}/amplitude rdFloat ${ns}::rdFloat ${scobj_hpath}
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hsetprop ${scobj_hpath}/amplitude write ${ns}::wrFloat ${scobj_hpath} noResponse {2}
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hsetprop ${scobj_hpath}/amplitude noResponse ${ns}::noResponse ${scobj_hpath}
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hsetprop ${scobj_hpath}/amplitude check ${ns}::checkrange ${scobj_hpath}
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hsetprop ${scobj_hpath}/amplitude control true
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hsetprop ${scobj_hpath}/amplitude data true
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hsetprop ${scobj_hpath}/amplitude mutable true
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hsetprop ${scobj_hpath}/amplitude nxsave true
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hsetprop ${scobj_hpath}/amplitude lowerlimit 0
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hsetprop ${scobj_hpath}/amplitude upperlimit 75
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hsetprop ${scobj_hpath}/amplitude units mm
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hsetprop ${scobj_hpath}/amplitude oldval 0.0
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hsetprop ${scobj_hpath}/amplitude klass "parameter"
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hsetprop ${scobj_hpath}/amplitude sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/amplitude type "part"
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hsetprop ${scobj_hpath}/amplitude nxalias "${name}_amplitude"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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${sct_controller} poll ${scobj_hpath}/amplitude 1
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${sct_controller} write ${scobj_hpath}/amplitude
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hsetprop ${scobj_hpath}/amplitude simulated false
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} else {
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::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
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hsetprop ${scobj_hpath}/amplitude simulated true
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}
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hfactory ${scobj_hpath}/run_cmd plain user int
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hsetprop ${scobj_hpath}/run_cmd read ${ns}::getUShort ${scobj_hpath} rdUShort {1}
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hsetprop ${scobj_hpath}/run_cmd rdUShort ${ns}::rdUShort ${scobj_hpath}
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hsetprop ${scobj_hpath}/run_cmd write ${ns}::wrUShort ${scobj_hpath} noResponse {1}
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hsetprop ${scobj_hpath}/run_cmd noResponse ${ns}::noResponse ${scobj_hpath}
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hsetprop ${scobj_hpath}/run_cmd check ${ns}::checkrange ${scobj_hpath}
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hsetprop ${scobj_hpath}/run_cmd control true
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hsetprop ${scobj_hpath}/run_cmd data true
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hsetprop ${scobj_hpath}/run_cmd mutable true
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hsetprop ${scobj_hpath}/run_cmd nxsave true
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hsetprop ${scobj_hpath}/run_cmd values 0,1
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hsetprop ${scobj_hpath}/run_cmd oldval 0
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hsetprop ${scobj_hpath}/run_cmd klass "parameter"
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hsetprop ${scobj_hpath}/run_cmd sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/run_cmd type "part"
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hsetprop ${scobj_hpath}/run_cmd nxalias "${name}_run_cmd"
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if {[string equal -nocase "${simulation_flag}" "false"]} {
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${sct_controller} poll ${scobj_hpath}/run_cmd 1
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${sct_controller} write ${scobj_hpath}/run_cmd
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hsetprop ${scobj_hpath}/run_cmd simulated false
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} else {
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::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
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hsetprop ${scobj_hpath}/run_cmd simulated true
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}
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hfactory ${scobj_hpath}/velocity plain user float
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hsetprop ${scobj_hpath}/velocity read ${ns}::getFloat ${scobj_hpath} rdFloat {4}
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hsetprop ${scobj_hpath}/velocity rdFloat ${ns}::rdFloat ${scobj_hpath}
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hsetprop ${scobj_hpath}/velocity write ${ns}::wrFloat ${scobj_hpath} noResponse {4}
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hsetprop ${scobj_hpath}/velocity noResponse ${ns}::noResponse ${scobj_hpath}
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hsetprop ${scobj_hpath}/velocity check ${ns}::checkrange ${scobj_hpath}
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hsetprop ${scobj_hpath}/velocity control true
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hsetprop ${scobj_hpath}/velocity data true
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hsetprop ${scobj_hpath}/velocity mutable true
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hsetprop ${scobj_hpath}/velocity nxsave true
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hsetprop ${scobj_hpath}/velocity lowerlimit 0
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hsetprop ${scobj_hpath}/velocity upperlimit 4700
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hsetprop ${scobj_hpath}/velocity units mm/S
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hsetprop ${scobj_hpath}/velocity oldval 0.0
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hsetprop ${scobj_hpath}/velocity klass "parameter"
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hsetprop ${scobj_hpath}/velocity sdsinfo "::nexus::scobj::sdsinfo"
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hsetprop ${scobj_hpath}/velocity type "part"
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hsetprop ${scobj_hpath}/velocity nxalias "${name}_velocity"
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|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/velocity 1
|
|
${sct_controller} write ${scobj_hpath}/velocity
|
|
hsetprop ${scobj_hpath}/velocity simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/velocity simulated true
|
|
}
|
|
|
|
hsetprop ${scobj_hpath} data "true"
|
|
hsetprop ${scobj_hpath} klass "@none"
|
|
hsetprop ${scobj_hpath} type "part"
|
|
|
|
hfactory ${scobj_hpath}/read_only plain spy none
|
|
|
|
hfactory ${scobj_hpath}/read_only/arc_state plain user int
|
|
hsetprop ${scobj_hpath}/read_only/arc_state read ${ns}::getUShort ${scobj_hpath} rdUShort {1017}
|
|
hsetprop ${scobj_hpath}/read_only/arc_state rdUShort ${ns}::rdUShort ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/arc_state control true
|
|
hsetprop ${scobj_hpath}/read_only/arc_state data false
|
|
hsetprop ${scobj_hpath}/read_only/arc_state mutable false
|
|
hsetprop ${scobj_hpath}/read_only/arc_state nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/arc_state oldval 0
|
|
hsetprop ${scobj_hpath}/read_only/arc_state sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/arc_state type "part"
|
|
hsetprop ${scobj_hpath}/read_only/arc_state nxalias "${name}_read_only_arc_state"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/arc_state 1
|
|
hsetprop ${scobj_hpath}/read_only/arc_state simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/arc_state simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/braking_distance plain user float
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance read ${ns}::getFloat ${scobj_hpath} rdFloat {1022}
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance control true
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance data false
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance mutable false
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance type "part"
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance nxalias "${name}_read_only_braking_distance"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/braking_distance 1
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/braking_distance simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/calc_error_code plain user int
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code read ${ns}::getULong ${scobj_hpath} rdULong {1020}
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code rdULong ${ns}::rdULong ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code control true
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code data false
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code mutable false
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code oldval 0
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code type "part"
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code nxalias "${name}_read_only_calc_error_code"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/calc_error_code 1
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/calc_error_code simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/continuous_acceleration plain user float
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration read ${ns}::getFloat ${scobj_hpath} rdFloat {1026}
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration control true
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration data false
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration mutable false
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration type "part"
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration nxalias "${name}_read_only_continuous_acceleration"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/continuous_acceleration 1
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/continuous_acceleration simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/maximum_acceleration plain user float
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration read ${ns}::getFloat ${scobj_hpath} rdFloat {1028}
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration control true
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration data false
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration mutable false
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration type "part"
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration nxalias "${name}_read_only_maximum_acceleration"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/maximum_acceleration 1
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/maximum_acceleration simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/move_abs_counter plain user int
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter read ${ns}::getULong ${scobj_hpath} rdULong {1006}
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter rdULong ${ns}::rdULong ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter control true
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter data false
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter mutable false
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter oldval 0
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter type "part"
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter nxalias "${name}_read_only_move_abs_counter"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/move_abs_counter 1
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/move_abs_counter simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/move_amplitude_max plain user float
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max read ${ns}::getFloat ${scobj_hpath} rdFloat {1010}
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max control true
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max data false
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max mutable false
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max type "part"
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max nxalias "${name}_read_only_move_amplitude_max"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/move_amplitude_max 1
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_max simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/move_amplitude_min plain user float
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min read ${ns}::getFloat ${scobj_hpath} rdFloat {1008}
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min control true
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min data false
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min mutable false
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min type "part"
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min nxalias "${name}_read_only_move_amplitude_min"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/move_amplitude_min 1
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/move_amplitude_min simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/move_error_code plain user int
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code read ${ns}::getULong ${scobj_hpath} rdULong {1004}
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code rdULong ${ns}::rdULong ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code control true
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code data false
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code mutable false
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code oldval 0
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code type "part"
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code nxalias "${name}_read_only_move_error_code"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/move_error_code 1
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/move_error_code simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/move_velocity_max plain user float
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max read ${ns}::getFloat ${scobj_hpath} rdFloat {1014}
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max control true
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max data false
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max mutable false
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max type "part"
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max nxalias "${name}_read_only_move_velocity_max"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/move_velocity_max 1
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_max simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/move_velocity_min plain user float
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min read ${ns}::getFloat ${scobj_hpath} rdFloat {1012}
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min control true
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min data false
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min mutable false
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min type "part"
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min nxalias "${name}_read_only_move_velocity_min"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/move_velocity_min 1
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/move_velocity_min simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/run_state plain user int
|
|
hsetprop ${scobj_hpath}/read_only/run_state read ${ns}::getUShort ${scobj_hpath} rdUShort {1001}
|
|
hsetprop ${scobj_hpath}/read_only/run_state rdUShort ${ns}::rdUShort ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/run_state control true
|
|
hsetprop ${scobj_hpath}/read_only/run_state data false
|
|
hsetprop ${scobj_hpath}/read_only/run_state mutable false
|
|
hsetprop ${scobj_hpath}/read_only/run_state nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/run_state oldval 0
|
|
hsetprop ${scobj_hpath}/read_only/run_state sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/run_state type "part"
|
|
hsetprop ${scobj_hpath}/read_only/run_state nxalias "${name}_read_only_run_state"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/run_state 1
|
|
hsetprop ${scobj_hpath}/read_only/run_state simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/run_state simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/velocity_ratio plain user float
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio read ${ns}::getFloat ${scobj_hpath} rdFloat {1024}
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio control true
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio data false
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio mutable false
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio oldval 0.0
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio type "part"
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio nxalias "${name}_read_only_velocity_ratio"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/velocity_ratio 1
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/velocity_ratio simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_only/version_number plain user int
|
|
hsetprop ${scobj_hpath}/read_only/version_number read ${ns}::getUShort ${scobj_hpath} rdUShort {1019}
|
|
hsetprop ${scobj_hpath}/read_only/version_number rdUShort ${ns}::rdUShort ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_only/version_number control true
|
|
hsetprop ${scobj_hpath}/read_only/version_number data false
|
|
hsetprop ${scobj_hpath}/read_only/version_number mutable false
|
|
hsetprop ${scobj_hpath}/read_only/version_number nxsave false
|
|
hsetprop ${scobj_hpath}/read_only/version_number oldval 0
|
|
hsetprop ${scobj_hpath}/read_only/version_number sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_only/version_number type "part"
|
|
hsetprop ${scobj_hpath}/read_only/version_number nxalias "${name}_read_only_version_number"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_only/version_number 1
|
|
hsetprop ${scobj_hpath}/read_only/version_number simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_only/version_number simulated true
|
|
}
|
|
hsetprop ${scobj_hpath}/read_only data "false"
|
|
hsetprop ${scobj_hpath}/read_only klass "@none"
|
|
hsetprop ${scobj_hpath}/read_only type "part"
|
|
|
|
hfactory ${scobj_hpath}/read_write plain spy none
|
|
|
|
hfactory ${scobj_hpath}/read_write/move_profile plain user int
|
|
hsetprop ${scobj_hpath}/read_write/move_profile read ${ns}::getUShort ${scobj_hpath} rdUShort {7}
|
|
hsetprop ${scobj_hpath}/read_write/move_profile rdUShort ${ns}::rdUShort ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_write/move_profile control true
|
|
hsetprop ${scobj_hpath}/read_write/move_profile data false
|
|
hsetprop ${scobj_hpath}/read_write/move_profile mutable false
|
|
hsetprop ${scobj_hpath}/read_write/move_profile nxsave false
|
|
hsetprop ${scobj_hpath}/read_write/move_profile values 0,1
|
|
hsetprop ${scobj_hpath}/read_write/move_profile oldval 0
|
|
hsetprop ${scobj_hpath}/read_write/move_profile sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_write/move_profile type "part"
|
|
hsetprop ${scobj_hpath}/read_write/move_profile nxalias "${name}_read_write_move_profile"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_write/move_profile 1
|
|
hsetprop ${scobj_hpath}/read_write/move_profile simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_write/move_profile simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_write/te_ok_cycles plain user int
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles read ${ns}::getULong ${scobj_hpath} rdULong {8}
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles rdULong ${ns}::rdULong ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles control true
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles data false
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles mutable false
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles nxsave false
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles oldval 0
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles type "part"
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles nxalias "${name}_read_write_te_ok_cycles"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_write/te_ok_cycles 1
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_cycles simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/read_write/te_ok_time plain user int
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time read ${ns}::getULong ${scobj_hpath} rdULong {10}
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time rdULong ${ns}::rdULong ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time control true
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time data false
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time mutable false
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time nxsave false
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time oldval 0
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time type "part"
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time nxalias "${name}_read_write_te_ok_time"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/read_write/te_ok_time 1
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/read_write/te_ok_time simulated true
|
|
}
|
|
hsetprop ${scobj_hpath}/read_write data "false"
|
|
hsetprop ${scobj_hpath}/read_write klass "@none"
|
|
hsetprop ${scobj_hpath}/read_write type "part"
|
|
hsetprop ${scobj_hpath} driver aerolas_doppler
|
|
hsetprop ${scobj_hpath} klass ${device_class}
|
|
hsetprop ${scobj_hpath} data true
|
|
hsetprop ${scobj_hpath} debug_threshold 5
|
|
# mkDriver hook code goes here
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
proc ::scobj::aerolas_doppler::add_driver {name device_class simulation_flag ip_address tcp_port} {
|
|
set catch_status [ catch {
|
|
::scobj::aerolas_doppler::sics_log 9 "::scobj::aerolas_doppler::add_driver ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
if {[string equal -nocase "aqadapter" "${ip_address}"]} {
|
|
::scobj::aerolas_doppler::sics_log 9 "makesctcontroller sct_${name} aqadapter ${tcp_port}"
|
|
makesctcontroller sct_${name} aqadapter ${tcp_port}
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "makesctcontroller sct_${name} modbus_ap ${ip_address}:${tcp_port}"
|
|
makesctcontroller sct_${name} modbus_ap ${ip_address}:${tcp_port}
|
|
}
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => Null sctcontroller for aerolas_doppler"
|
|
::scobj::aerolas_doppler::sics_log 9 "makesctcontroller sct_${name} aqadapter NULL"
|
|
makesctcontroller sct_${name} aqadapter NULL
|
|
}
|
|
::scobj::aerolas_doppler::sics_log 1 "::scobj::aerolas_doppler::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
|
|
::scobj::aerolas_doppler::mkDriver sct_${name} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
namespace eval ::scobj::aerolas_doppler {
|
|
namespace export debug_threshold
|
|
namespace export debug_log
|
|
namespace export sics_log
|
|
namespace export mkDriver
|
|
namespace export add_driver
|
|
}
|
|
|
|
proc add_aerolas_doppler {name ip_address tcp_port} {
|
|
set simulation_flag "[string tolower [SplitReply [motor_simulation]]]"
|
|
::scobj::aerolas_doppler::add_driver ${name} "instrument" ${simulation_flag} ${ip_address} ${tcp_port}
|
|
}
|
|
|
|
clientput "file evaluation of sct_aerolas_doppler.tcl"
|
|
::scobj::aerolas_doppler::sics_log 9 "file evaluation of sct_aerolas_doppler.tcl"
|
|
|
|
proc ::scobj::aerolas_doppler::read_config {} {
|
|
set catch_status [ catch {
|
|
set ns "::scobj::aerolas_doppler"
|
|
dict for {k u} $::config_dict {
|
|
if { [dict exists $u "implementation"] } {
|
|
set simulation_flag "[string tolower [SplitReply [motor_simulation]]]"
|
|
set device_class "instrument"
|
|
if { !([dict exists $u "name"] && [dict exists $u "enabled"]) } {
|
|
continue
|
|
}
|
|
set enabled [string tolower [dict get $u "enabled"]]
|
|
if { ! ([string equal -nocase $enabled "true" ] || [string equal -nocase $enabled "always"]) } {
|
|
continue
|
|
}
|
|
if { [dict exists $u "simulation_group"] } {
|
|
set simulation_flag [SplitReply [[string tolower [dict get $u "simulation_group"]]]]
|
|
}
|
|
if { [dict exists $u "device_class"] } {
|
|
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 $v "driver"] "aerolas_doppler"] } {
|
|
if { ![string equal -nocase "${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} modbus_ap ${ip_address}:${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::aerolas_doppler::read_config
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 5 "No config dict"
|
|
}
|