#%TITLE% CHECKAIR.MAC
#%NAME% 
#   Macros to handle motors with airpads
#%CATEGORY% Positioning
#%DESCRIPTION%
#  This is a macro package which can be used for moving motors where an
#  airpad has to be switched on before the move
#  The airpad will be switched on every time the motor is moved. The
#  macro will wait a certain time until the air is inflated and inform
#  the user. Before displaying a prompt the airpad will be switched off
#  again. During counting ( for example in scans) the air will be
#  switched off. %BR%
#  The air will just be switched off if it has been switched on before
#  by the macro set. If the airpad has been switched on  explicitly by
#  the user (for example with the special beamline macro airpad_on)
#  the air will stay inflated even during scans. %BR%  
#%EXAMPLE%
#%DL%
#  %DT% checkairsetup "ID10/airpad/0" ttm th2 %DD%
#     This will setup the motors ttm and th2 to check if the air
#     is inflated before attempting to move them
#  %DT% move ttm 3 %DD%
#     The airpad will be switched on , the motor moved and the airpad
#     switched off again.
#  %DT% ascan th2 0 10 10 1 %DD%
#     The motor th2 will be scanned from 0 to 10 . The motor will only
#     be moved after the air has been switched on. At each point the
#     air will be switched off during counting
#  %DT% airpad_on %DD%
#     The airpad will be switched on
#  %DT% ascan th2 0 10 10 1 %DD%
#     The motor will be scanned again. The airpad will not! be switched
#     off during counting because the user switched the air on himself.
#  %DT% airpad_off %DD%
#     The airpad will be switched off again
# %XDL%
#%END%

#%UU%  [device] [motormne1] [motormne2] [..]
#%MDESC%
#     declares the motor [motormne1] to be moved only if air is
#     inflated. The device is the device name of the ICV192 digital
#     output channel to control the airpad
def checkairsetup '
{
global CHECKAIRDEV CHECKAIRMOT CHECKAIRMNO CHECKAIROLD
if (!$#) {
  CHECKAIRDEV = getval ("Device name for air pad DIO channel",CHECKAIRDEV)
  CHECKAIRMNO = getval ("How many motors should be checked",CHECKAIRMNO)
  for (uu=0;uu<CHECKAIRMNO;uu++) {
    CHECKAIRMOT[uu] = getval (sprintf("Motor Mnemonic No %d",uu+1),\
		CHECKAIRMOT[uu] )
    }    
  }
else {
  CHECKAIRDEV="$1"
  CHECKAIRMOT[0]="$2" ; CHECKAIRMOT[1]="$3" ; CHECKAIRMOT[2]="$4" ;
  CHECKAIRMOT[3]="$5" ; CHECKAIRMOT[4]="$6" ; CHECKAIRMOT[5]="$7" ;
  CHECKAIRMOT[6]="$8" ; CHECKAIRMOT[7]="$9" 
  CHECKAIRMNO = $# -1
  }

for (uu=0;uu<CHECKAIRMNO;uu++) {
  cdef("user_checkall",sprintf("checkair %s ;",CHECKAIRMOT[uu]),\
		CHECKAIRMOT[uu], 9)
  cdef("user_getpangles",sprintf("checksavepos %s ;",CHECKAIRMOT[uu]),\
		CHECKAIRMOT[uu], 9)
  }
  
# Bricolage for id10
  cdef("user_checkall","ttmfix_checkall ttm mono ; checkair ttm;","ttm",1)

for (uu=0;uu<MOTORS;uu++) {
  CHECKAIROLD[uu]=-9999.999
  }

cdef("user_prepcount","checkoff\n","check",0)
cdef("prompt_mac","checkoff\n","check",0)

}'

#%IU%
#%MDESC% Waits for motor to stop and switches air off if we switched it on.  
def checkoff ' 
  waitmove
  checkswitchairoff
'
 
#%IU% <motor>
#%MDESC%
# checks if <motor> will move,  air is switched on and switches it on 
# if necessary. Will to be done before the move.

def checkair '
global ISONAIR
if (CHECKAIROLD[$1] != A[$1]) {
  checkifonair
  if (!ISONAIR) {
   printf ("Warning: Motor %s can only be moved if air is inflated\n",motor_name($1))
   printf ("Air will be switched on now ..\n")
   checkswitchairon
    }
}
'

#%IU% 
#%MDESC% 
# Reads device and puts result in boolean ISONAIR
def checkifonair '
ISONAIR = (esrf_io(CHECKAIRDEV,"DevReadValue") != 3)
'

#%IU% <motor>
#%MDESC% 
# Saves old position for <motor>
def checksavepos '
global CHECKAIROLD
CHECKAIROLD[$1]=A[$1]
'

#%IU% <motor>
#%MDESC% 
# Switches air on and remembers that we did it
def checkswitchairon '
global CHECKSWITCHEDON
CHECKSWITCHEDON=1
airpad_on
'

#%UU% 
#%MDESC%
#     switches the air on
def airpad_on '
esrf_io(CHECKAIRDEV,"DevOpen")
printf ("Waiting until air is inflated ..")
sleep(3)
printf ("done\n")
checkifonair
if (!ISONAIR) {
  print "PANIC: Air is not inflated - Emergency STOP\n"
  exit 
  }
'


#%IU% <motor>
#%MDESC% 
# Switches air off if we switched it on internally
def checkswitchairoff '
if (CHECKSWITCHEDON) {
  sleep(1)
  airpad_off 
  }
'

#%UU% 
#%MDESC%
#     switches the air off
def airpad_off '
{
  esrf_io(CHECKAIRDEV,"DevClose")
  printf ("Waiting until air is off ..")
  sleep(.5)
  printf ("done\n")
  CHECKSWITCHEDON=0
  checkifonair
  if (ISONAIR) {
    print "PANIC: Air is still inflated - Emergency STOP\n"
    exit 
    }
}'  

#%MACROS%
#%IMACROS%
#%ATTENTION%
#  The check if air is inflated is not really done. The only thing 
#    which is checked is the status of the digital output on the 
#    icv196 card. You should check if everything is working with 
#    airpad-on and airpad-off
#%DEPENDENCIES%
#%UL%  
#%LI% Switching the air off is implemented with the new hook macros
#    hooks have been put into : user_getpangles and prompt_mac
#    Checking the air is implemented as pseudo-motors 
#%LI% The file checkair.mac has to be read in        !done by: startup script
#    (this file needs: hook.mac stchanges.mac pseudo.mac)
#%XUL%
#%AUTHOR%
#  JK 10.93 
#%TOC%