55 lines
1.6 KiB
Tcl
55 lines
1.6 KiB
Tcl
# $Revision: 1.3 $
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# $Date: 2006-09-01 04:52:58 $
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# Author: Ferdi Franceschini (ffr@ansto.gov.au)
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# Last revision by $Author: ffr $
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# Open a communications channel to a dmc2280 motor controller
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# contName: controller name, eg dmc2280_controller1
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# The host and port in the SICS configuration file will be used by default
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proc dmc_connect {contName {host ""} {port ""}} {
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upvar #0 $contName controller
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if {$host == ""} {set host $controller(host)}
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if {$port == ""} {set port $controller(port)}
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if [catch {socket $host $port} con] {
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error "Failed to connect to $contName IP($host) port($port)\n\
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$con\n
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Is the motor controller switched on? Are the network cables plugged in?"
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}
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set controller(socket) $con
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fconfigure $controller(socket) -buffering line -translation crlf -blocking true
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}
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# Send a dmc2280 command
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proc dmc_sendCmd {contName cmd} {
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upvar #0 $contName controller
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puts $controller(socket) $cmd
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set status [read $controller(socket) 1]
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if {$status == "?"} {
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puts $controller(socket) "TC 1"
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set status [read $controller(socket) 1]
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if {$status == "?"} {
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error "error: dmc command $cmd failed"
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} else {
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set dmcError [dmc_receive $controller(socket)]
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set errInfo "DM2280 controller $contName
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host $controller(host)
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port $controller(port)"
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error "DMC2280 ERROR $dmcError: when running command $cmd\n$errInfo"
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}
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} else {
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return $status
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}
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}
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# Receive a dmc2280 command
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proc dmc_receive {contName} {
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upvar #0 $contName controller
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gets $controller(socket) line
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# Consume the following colon
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read $controller(socket) 1
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return $line
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}
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