451 lines
18 KiB
Tcl
451 lines
18 KiB
Tcl
# Generated driver for aerolas_doppler
|
|
# vim: ft=tcl tabstop=8 softtabstop=2 shiftwidth=2 nocindent smartindent
|
|
#
|
|
|
|
namespace eval ::scobj::aerolas_doppler {
|
|
set debug_threshold 5
|
|
}
|
|
|
|
proc ::scobj::aerolas_doppler::debug_log {tc_root debug_level debug_string} {
|
|
set catch_status [ catch {
|
|
set debug_threshold [hgetpropval ${tc_root} debug_threshold]
|
|
if {${debug_level} >= ${debug_threshold}} {
|
|
set now [clock seconds]
|
|
set ts [clock format ${now} -format "%Y%m%d"]
|
|
set log_file_name "../log/aerolas_doppler_[basename ${tc_root}]_${ts}.log"
|
|
set fd [open "${log_file_name}" "a"]
|
|
set ts [clock format ${now} -format "%T"]
|
|
puts ${fd} "${ts} ${debug_string}"
|
|
close ${fd}
|
|
}
|
|
} catch_message ]
|
|
}
|
|
|
|
proc ::scobj::aerolas_doppler::sics_log {debug_level debug_string} {
|
|
set catch_status [ catch {
|
|
set debug_threshold ${::scobj::aerolas_doppler::debug_threshold}
|
|
if {${debug_level} >= ${debug_threshold}} {
|
|
sicslog "::scobj::aerolas_doppler::${debug_string}"
|
|
}
|
|
} catch_message ]
|
|
}
|
|
|
|
# check function for hset change
|
|
proc ::scobj::aerolas_doppler::checkrange {tc_root} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "checkrange tc_root=${tc_root} sct=[sct] target=[sct target]"
|
|
set setpoint [sct target]
|
|
if { [hpropexists [sct] lowerlimit] } {
|
|
set lolimit [sct lowerlimit]
|
|
} else {
|
|
# lowerlimit not set, use target
|
|
set lolimit [sct target]
|
|
}
|
|
if { [hpropexists [sct] upperlimit] } {
|
|
set hilimit [sct upperlimit]
|
|
} else {
|
|
# upperlimit not set, use target
|
|
set hilimit [sct target]
|
|
}
|
|
# checkrange hook code goes here
|
|
if { ${setpoint} < ${lolimit} || ${setpoint} > ${hilimit} } {
|
|
error "setpoint ${setpoint} violates limits (${lolimit}..${hilimit}) on [sct]"
|
|
}
|
|
return OK
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
# function to request the read of a parameter on a device
|
|
proc ::scobj::aerolas_doppler::getFloat {tc_root nextState cmd_str} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "getFloat tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
|
|
if { [hpropexists [sct] geterror] } {
|
|
hdelprop [sct] geterror
|
|
}
|
|
set cmd "${cmd_str}"
|
|
# getFloat hook code starts
|
|
set cmd "1:3:${cmd_str}:1:F32"
|
|
# getFloat hook code ends
|
|
if { [hpropexists [sct] geterror] } {
|
|
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
|
|
error "[sct geterror]"
|
|
}
|
|
debug_log ${tc_root} 1 "getFloat sct send ${cmd}"
|
|
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
|
|
sct send "${cmd}"
|
|
}
|
|
return ${nextState}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
# function to request the read of a parameter on a device
|
|
proc ::scobj::aerolas_doppler::getInteger {tc_root nextState cmd_str} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "getInteger tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
|
|
if { [hpropexists [sct] geterror] } {
|
|
hdelprop [sct] geterror
|
|
}
|
|
set cmd "${cmd_str}"
|
|
# getInteger hook code starts
|
|
set cmd "1:3:${cmd_str}:1:U16"
|
|
# getInteger hook code ends
|
|
if { [hpropexists [sct] geterror] } {
|
|
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
|
|
error "[sct geterror]"
|
|
}
|
|
debug_log ${tc_root} 1 "getInteger sct send ${cmd}"
|
|
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
|
|
sct send "${cmd}"
|
|
}
|
|
return ${nextState}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
# function to check the write parameter on a device
|
|
proc ::scobj::aerolas_doppler::noResponse {tc_root} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "noResponse tc_root=${tc_root} sct=[sct] resp=[sct result]"
|
|
# noResponse hook code goes here
|
|
return "idle"
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
# function to parse the read of a parameter on a device
|
|
proc ::scobj::aerolas_doppler::rdFloat {tc_root} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "rdFloat tc_root=${tc_root} sct=[sct] result=[sct result]"
|
|
if { [hpropexists [sct] geterror] } {
|
|
hdelprop [sct] geterror
|
|
}
|
|
set data [sct result]
|
|
set nextState "idle"
|
|
if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
|
|
# the protocol driver has reported an error
|
|
sct geterror "${data}"
|
|
error "[sct geterror]"
|
|
}
|
|
# rdFloat hook code goes here
|
|
if { ${data} != [sct oldval] } {
|
|
debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
|
|
sct oldval ${data}
|
|
sct update ${data}
|
|
sct utime readtime
|
|
}
|
|
return ${nextState}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
# function to parse the read of a parameter on a device
|
|
proc ::scobj::aerolas_doppler::rdInteger {tc_root} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "rdInteger tc_root=${tc_root} sct=[sct] result=[sct result]"
|
|
if { [hpropexists [sct] geterror] } {
|
|
hdelprop [sct] geterror
|
|
}
|
|
set data [sct result]
|
|
set nextState "idle"
|
|
if {[string equal -nocase -length 7 ${data} "ASCERR:"]} {
|
|
# the protocol driver has reported an error
|
|
sct geterror "${data}"
|
|
error "[sct geterror]"
|
|
}
|
|
# rdInteger hook code goes here
|
|
if { ${data} != [sct oldval] } {
|
|
debug_log ${tc_root} 1 "[sct] changed to new:${data}, from old:[sct oldval]"
|
|
sct oldval ${data}
|
|
sct update ${data}
|
|
sct utime readtime
|
|
}
|
|
return ${nextState}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
# function to write a parameter value on a device
|
|
proc ::scobj::aerolas_doppler::wrFloat {tc_root nextState cmd_str} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "wrFloat tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
|
|
if { [hpropexists [sct] geterror] } {
|
|
hdelprop [sct] geterror
|
|
}
|
|
set par [sct target]
|
|
set cmd "${cmd_str}${par}"
|
|
# wrFloat hook code starts
|
|
set cmd "1:16:${cmd_str}:1:F32:${par}"
|
|
# wrFloat hook code ends
|
|
if { [hpropexists [sct] geterror] } {
|
|
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
|
|
error "[sct geterror]"
|
|
}
|
|
if { [hpropexists [sct] driving] } {
|
|
if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
|
|
sct driving 1
|
|
}
|
|
}
|
|
debug_log ${tc_root} 1 "wrFloat sct send ${cmd}"
|
|
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
|
|
sct send "${cmd}"
|
|
}
|
|
return ${nextState}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
# function to write a parameter value on a device
|
|
proc ::scobj::aerolas_doppler::wrInteger {tc_root nextState cmd_str} {
|
|
set catch_status [ catch {
|
|
debug_log ${tc_root} 1 "wrInteger tc_root=${tc_root} sct=[sct] cmd=${cmd_str}"
|
|
if { [hpropexists [sct] geterror] } {
|
|
hdelprop [sct] geterror
|
|
}
|
|
set par [sct target]
|
|
set cmd "${cmd_str}${par}"
|
|
# wrInteger hook code starts
|
|
set cmd "1:16:${cmd_str}:1:U16:${par}"
|
|
# wrInteger hook code ends
|
|
if { [hpropexists [sct] geterror] } {
|
|
debug_log ${tc_root} 9 "[sct] error: [sct geterror]"
|
|
error "[sct geterror]"
|
|
}
|
|
if { [hpropexists [sct] driving] } {
|
|
if { [hpropexists [sct] writestatus] && [sct writestatus] == "start" } {
|
|
sct driving 1
|
|
}
|
|
}
|
|
debug_log ${tc_root} 1 "wrInteger sct send ${cmd}"
|
|
if {![string equal -nocase -length 10 ${cmd} "@@NOSEND@@"]} {
|
|
sct send "${cmd}"
|
|
}
|
|
return ${nextState}
|
|
} catch_message ]
|
|
handle_exception ${catch_status} ${catch_message}
|
|
}
|
|
|
|
proc ::scobj::aerolas_doppler::mkDriver { sct_controller name device_class simulation_flag ip_address tcp_port } {
|
|
::scobj::aerolas_doppler::sics_log 9 "::scobj::aerolas_doppler::mkDriver ${sct_controller} ${name} ${device_class} ${simulation_flag} ${ip_address} ${tcp_port}"
|
|
set ns "[namespace current]"
|
|
set catch_status [ catch {
|
|
|
|
MakeSICSObj ${name} SCT_OBJECT
|
|
|
|
sicslist setatt ${name} driver aerolas_doppler
|
|
sicslist setatt ${name} klass ${device_class}
|
|
sicslist setatt ${name} long_name ${name}
|
|
|
|
set scobj_hpath /sics/${name}
|
|
|
|
hfactory ${scobj_hpath}/amplitude plain user float
|
|
hsetprop ${scobj_hpath}/amplitude read ${ns}::getFloat ${scobj_hpath} rdFloat {2}
|
|
hsetprop ${scobj_hpath}/amplitude rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/amplitude write ${ns}::wrFloat ${scobj_hpath} noResponse {2}
|
|
hsetprop ${scobj_hpath}/amplitude noResponse ${ns}::noResponse ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/amplitude check ${ns}::checkrange ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/amplitude control true
|
|
hsetprop ${scobj_hpath}/amplitude data true
|
|
hsetprop ${scobj_hpath}/amplitude mutable true
|
|
hsetprop ${scobj_hpath}/amplitude nxsave true
|
|
hsetprop ${scobj_hpath}/amplitude oldval 0.0
|
|
hsetprop ${scobj_hpath}/amplitude klass "parameter"
|
|
hsetprop ${scobj_hpath}/amplitude sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/amplitude type "part"
|
|
hsetprop ${scobj_hpath}/amplitude nxalias "${name}_amplitude"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/amplitude 1
|
|
${sct_controller} write ${scobj_hpath}/amplitude
|
|
hsetprop ${scobj_hpath}/amplitude simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/amplitude simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/run_cmd plain user int
|
|
hsetprop ${scobj_hpath}/run_cmd read ${ns}::getInteger ${scobj_hpath} rdInteger {1}
|
|
hsetprop ${scobj_hpath}/run_cmd rdInteger ${ns}::rdInteger ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/run_cmd write ${ns}::wrInteger ${scobj_hpath} noResponse {1}
|
|
hsetprop ${scobj_hpath}/run_cmd noResponse ${ns}::noResponse ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/run_cmd check ${ns}::checkrange ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/run_cmd control true
|
|
hsetprop ${scobj_hpath}/run_cmd data true
|
|
hsetprop ${scobj_hpath}/run_cmd mutable true
|
|
hsetprop ${scobj_hpath}/run_cmd nxsave true
|
|
hsetprop ${scobj_hpath}/run_cmd values 0,1
|
|
hsetprop ${scobj_hpath}/run_cmd oldval 0
|
|
hsetprop ${scobj_hpath}/run_cmd klass "parameter"
|
|
hsetprop ${scobj_hpath}/run_cmd sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/run_cmd type "part"
|
|
hsetprop ${scobj_hpath}/run_cmd nxalias "${name}_run_cmd"
|
|
|
|
if {[string equal -nocase "${simulation_flag}" "false"]} {
|
|
${sct_controller} poll ${scobj_hpath}/run_cmd 1
|
|
${sct_controller} write ${scobj_hpath}/run_cmd
|
|
hsetprop ${scobj_hpath}/run_cmd simulated false
|
|
} else {
|
|
::scobj::aerolas_doppler::sics_log 9 "simulation_flag=${simulation_flag} => No poll/write for aerolas_doppler"
|
|
hsetprop ${scobj_hpath}/run_cmd simulated true
|
|
}
|
|
|
|
hfactory ${scobj_hpath}/velocity plain user float
|
|
hsetprop ${scobj_hpath}/velocity read ${ns}::getFloat ${scobj_hpath} rdFloat {4}
|
|
hsetprop ${scobj_hpath}/velocity rdFloat ${ns}::rdFloat ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/velocity write ${ns}::wrFloat ${scobj_hpath} noResponse {4}
|
|
hsetprop ${scobj_hpath}/velocity noResponse ${ns}::noResponse ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/velocity check ${ns}::checkrange ${scobj_hpath}
|
|
hsetprop ${scobj_hpath}/velocity control true
|
|
hsetprop ${scobj_hpath}/velocity data true
|
|
hsetprop ${scobj_hpath}/velocity mutable true
|
|
hsetprop ${scobj_hpath}/velocity nxsave true
|
|
hsetprop ${scobj_hpath}/velocity oldval 0.0
|
|
hsetprop ${scobj_hpath}/velocity klass "parameter"
|
|
hsetprop ${scobj_hpath}/velocity sdsinfo "::nexus::scobj::sdsinfo"
|
|
hsetprop ${scobj_hpath}/velocity type "part"
|
|
hsetprop ${scobj_hpath}/velocity nxalias "${name}_velocity"
|
|
|
|
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"
|
|
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"
|
|
}
|