#%TITLE% HDH.MAC
#%NAME%
# Macros to read the Heidenhain encoders (RON 806) through
# a serial line.
#
#%CATEGORY% Positioning
#
#%DESCRIPTION%
# Macros to define and control Haidenhein encoders
# as pseudomotors
#%BR% These hdh are assumed to be controlled through
# a serial line
#%BR% Through an Hdh, we can access 2 values.
#
#%BR%
#%BR% Serial line protocol:
#%UL%
#%LI% ^B to ask for a value
#%LI% The response of the serial line is :
#%UL%
#%LI% X=`sign' <floating value> R <CR><LF>
#%LI% Y=`sign' <floating value> R <CR><LF><LF><LF><LF><LF>
#%XUL%
#%XUL%
#
# NOTE: For the following macros, the HDH_DEV_index
# represents the index 0..n in the list of
# HDH devices defined by the user with hdhsetup
# If this parameter is omitted, as it is always
# the last parameter in the list of the macro,
# Spec will replace it by 0. So omitting it
# allows to work with the first HDH of the list.
#
#%AUTHOR%
# March 1st 1994 MCD
#%DEPENDENCIES%
# To use an HDH encoder:
#%UL%
#%LI% load the macro file : hdh.mac
#%LI% setup the encoder(s) : with hdhsetup
#%LI% configure your encoder(s) :
#%UL%
#%LI% controller NONE
#%LI% mnemonic corresponding to the one provided in hdhsetup
#%XUL%
#%XUL%
#%END%
# hdhsetup nb dev_name mne cha ncha dev_name mne cha ...
#
# setup of the devices
#
# hdh_flush HDH_DEV_index
#
# print what is on the serial line buffer for one device
#
# hdh_read n HDH_DEV_index
#
# prints the position in channel `n' (1 or 2 or 0=both)
# of one device
#
# hdh1_read n HDH_DEV_index
#
# one channel hdh
# prints the position
# of one device
#
# hdh2_read n HDH_DEV_index
#
# two channel hdh (same as hdh_read)
# prints the position in channel `n' (1 or 2 or 0=both)
# of one device
#
# hdh3_read n HDH_DEV_index
#
# two channel hdh in channel `n' (1 or 2 or 0=both)
# prints the position
# of one device
#
# hdh1_read3 mne n HDH_DEV_index
#
# for pseudo motor mecanism, reads the value
# of one pseudo motor (hdh 1 channel)
# It puts also the result in HDH_VAL
#
# hdh2_read3 mne n HDH_DEV_index
#
# for pseudo motor mecanism, reads the value
# of one pseudo motor (hdh 2 channel)
# It puts also the result in HDH_VAL
#
# hdh3_read3 mne n HDH_DEV_index
#
# for pseudo motor mecanism, reads the value
# of one pseudo motor (hdh 3 channel)
# It puts also the result in HDH_VAL
#
# Macros:
#
# Author: MCD
# $Revision: 3.1 $
#----------
# hdhsetup nb dev_name1 pseudo_mne1 ch1 nch1 dev_name2 ch22 pseudo_mne2 ...
#
# `nb : nb of hdh pseudomotors defined
# Dev_name`i' : Name of the MAXE device containing
# the CC133 encoder for the `i'th pseudom.
# pseudo_mne`i': mnemonic associated to that pseudomotor
# ch`i' : channel number (1 for X) or (2 for Y)
# nch`i' : number of channels of the equipement
#
# when called without arguments, this macro asks interactively
# for the values
#
#----------
#%UU% <nb> <dev_name1> <pseudo_mne1> <ch1> <nch1> <dev_name2> <ch2> <pseudo_mne2> ...
#%MDESC%
# setup of the devices :
#%UL%
#%LI% nb : nb of hdh pseudomotors defined
#%LI% dev_name`i' : Name of the MAXE device containing
# the CC133 encoder for the `i'th pseudom.
#%LI% pseudo_mne`i': mnemonic associated to that pseudomotor
#%LI% ch`i' : channel number (1 for X) or (2 for Y)
#%LI% nch`i' : number of channels of the equipement
#%XUL%
#when called without arguments, this macro asks interactively
# for the values
#%BR% This macro allows to define some HDH encoders as pseudomotors.
#%BR% For each encoder, the user has to provide the mnemonic for this
# encoder (free), the server device name for the hardware
# access to the encoder, an integer indicating which
# channel he wants to read, and the number of channels managed by
# the equipement. Each encoder has a number, from 0 to
# [nb]-1.
#%BR% In the following functions, HDH_DEV_index represents this number.
def hdhsetup '
{
global HDH_NO HDH_DEV HDH_MNE HDH_CHA HDH_MAXNO HDH_PRINT HDH_NCHA
# HDH_VAL will receive the last read hdh value
global HDH_VAL HDH_ERROR
global ppstring
local _pmne _pdev _chan nomne _nchan
HDH_PRINT = 1
HDH_MAXNO=5
_pdev[0]="$2"
_pdev[1]="$6"
_pdev[2]="$10"
_pdev[3]="$14"
_pdev[4]="$18"
_pmne[0]="$3"
_pmne[1]="$7"
_pmne[2]="$11"
_pmne[3]="$15"
_pmne[4]="$19"
_chan[0]="$4"
_chan[1]="$8"
_chan[2]="$12"
_chan[3]="$16"
_chan[4]="$20"
_nchan[0]="$5"
_nchan[1]="$9"
_nchan[2]="$13"
_nchan[3]="$17"
_nchan[4]="$21"
if ($# > HDH_MAXNO*4+1) {
print "Usage: hdhsetup [nb of hdh] [dev name] [hdh mne] [hdh cha] [nb of cha]"
print " [dev name] [hdh mne] [hdh cha] ..."
exit
}
nomne = int (($#-1)/2)
if ($# < 1) {
HDH_NO = getval("How many Hdh devices do you want to use ",HDH_NO)
}
else {
HDH_NO = $1
}
if (HDH_NO > HDH_MAXNO) {
printf ("Just %d hdh allowed! Nothing done!\n",HDH_MAXNO)
exit
}
for (i=0; i< HDH_NO; i++) {
if (nomne < i+1 && HDH_NO > i) {
HDH_DEV[i]=getval(sprintf("What is the name of your Hdh device No %d ",i+1),HDH_DEV[i])
}
else if (HDH_NO > i) {
HDH_DEV[i]=_pdev[i]
}
if (nomne < i+1 && HDH_NO > i) {
HDH_MNE[i] = getval("What is the name of your pseudo motor hdh ",HDH_MNE[i])
}
else if (HDH_NO > i) {
HDH_MNE[i]=_pmne[i]
}
if (nomne < i+1 && HDH_NO > i) {
HDH_CHA[i] = getval("What is your Hdh channel [1 or 2]",HDH_CHA[i])
}
else if (HDH_NO > i) {
HDH_CHA[i]=_chan[i]
}
if (nomne < i+1 && HDH_NO > i) {
HDH_NCHA[i] = getval("How many channels in your equipement?",HDH_NCHA[i])
}
else if (HDH_NO > i) {
HDH_NCHA[i]=_nchan[i]
}
}
for (i=0;i<HDH_NO; i++) {
local ppstring
if (HDH_NCHA[i] == 1) {
ppstring=sprintf ("%s none none hdh1_read3 none none none none %d %d",HDH_MNE[i],HDH_CHA[i],i)
}
if (HDH_NCHA[i] == 2) {
ppstring=sprintf ("%s none none hdh2_read3 none none none none %d %d",HDH_MNE[i],HDH_CHA[i],i)
}
if (HDH_NCHA[i] == 3) {
ppstring=sprintf ("%s none none hdh3_read3 none none none none %d %d",HDH_MNE[i],HDH_CHA[i],i)
}
pseudosdef ppstring
}
}
'
#-------------------------------------------
# hdh_flush HDH_DEV_index
#
# prints what is on the buffer for a device
#
#%UU% <HDH_DEV_index>
#%MDESC%
# prints what is on the buffer for a device (flushes the serial line)
def hdh_flush '
print esrf_io(HDH_DEV[$1],"DevSerReadString",0)
'
#-------------------------------------------
# hdh_read `n' HDH_DEV_index
#
# If n is not provided, prints the values of
# the 2 channels of a device
# If n is 1 : prints the value of X channel
# If n is 2 : prints the value of Y channel
#
# put the last read value in HDH_VAL
#%UU% <n> <HDH_DEV_index>
#%MDESC%
# reads a TWO channels equipement.
#%BR% reads the heidenhain channel value for the `HDH_DEV_index'th
# encoder, according to `n'.
#%BR% If n is not provided, prints the values of
# the 2 channels of a device
#%BR% If n is 1 : prints the value of X channel and puts it in HDH_VAL
#%BR% If n is 2 : prints the value of Y channel and puts it in HDH_VAL
def hdh_read '
{
local str1 str2 dummy valx valy len
HDH_ERROR = 0
esrf_io(HDH_DEV[$2],"DevSerWriteString","\2")
# X: read until <CR>,
str1 = esrf_io(HDH_DEV[$2],"DevSerReadString",2)
len = length(str1)
if (len == 0) {
print HDH_MNE[$2] X " : no data"
HDH_ERROR = 1
}
else {
if ($1 !=1) {
# should be a valid Y value
str2 = esrf_io(HDH_DEV[$2],"DevSerReadString",2)
len = length(str2)
if (len == 0) {
print HDH_MNE[$2] Y " : no data"
HDH_ERROR = 1
}
}
else {
# we read the present buffer, because <CR> may never appear
str2 = esrf_io(HDH_DEV[$2],"DevSerReadString",0)
}
# X value if request = 0 or 1
if ($1 !=2 ) {
sscanf(str1,"%s%f",dummy,valx)
if (index(dummy,"-") !=0) {
valx = -valx
}
print "X= " valx
HDH_VAL = valx
}
# Y value if request = 0 or 2
if ($1 !=1) {
sscanf(str2,"%s%f",dummy,valy)
if (index(dummy,"-") !=0) {
valy = -valy
}
print "Y= " valy
HDH_VAL = valy
}
}
}
'
#-------------------------------------------
# hdh1_read `n' HDH_DEV_index
#
# Reads a one channel only equipement
#
#
# put the last read value in HDH_VAL
#%UU% <n> <HDH_DEV_index>
#%MDESC%
# reads a ONE channel equipement.
#%BR% reads the heidenhain channel value for the `HDH_DEV_index'th.
#%BR% `n' is unused.
#%BR% Puts the value in HDH_VAL and prints it.
def hdh1_read '
{
local str1 str2 dummy valx valy len
HDH_ERROR = 0
esrf_io(HDH_DEV[$2],"DevSerWriteString","\2")
# X: read until <CR>,
str1 = esrf_io(HDH_DEV[$2],"DevSerReadString",2)
len = length(str1)
if (len == 0) {
print HDH_MNE[$2] " : no data"
HDH_ERROR = 1
}
else {
# we flush the present buffer. usefull?
str2 = esrf_io(HDH_DEV[$2],"DevSerReadString",0)
# X value anyway
sscanf(str1,"%s%f",dummy,valx)
if (index(dummy,"-") !=0) {
valx = -valx
}
if ( HDH_PRINT == 1) {
print "X= " valx
}
HDH_VAL = valx
}
}
'
#-------------------------------------------
# hdh2_read `n' HDH_DEV_index
#
# Reads a 2 channels only equipement
#
# If n is not provided, prints the values of
# the 2 channels of a device
# If n is 1 : prints the value of X channel
# If n is 2 : prints the value of Y channel
#
# put the last read value in HDH_VAL
#%UU% <n> <HDH_DEV_index>
#%MDESC%
# reads a TWO channels equipement.
#%BR% reads the heidenhain channel value for the `HDH_DEV_index'th
# encoder, according to `n'.
#%BR% If n is not provided, prints the values of
# the 2 channels of a device
#%BR% If n is 1 : prints the value of X channel and puts it in HDH_VAL
#%BR% If n is 2 : prints the value of Y channel and puts it in HDH_VAL
def hdh2_read '
{
local str1 str2 dummy valx valy len
HDH_ERROR = 0
esrf_io(HDH_DEV[$2],"DevSerWriteString","\2")
# X: read until <CR>,
str1 = esrf_io(HDH_DEV[$2],"DevSerReadString",2)
len = length(str1)
if (len == 0) {
print HDH_MNE[$2] X " : no data"
HDH_ERROR = 1
}
else {
if ($1 !=1) {
# should be a valid Y value
str2 = esrf_io(HDH_DEV[$2],"DevSerReadString",2)
len = length(str2)
if (len == 0) {
print HDH_MNE[$2] Y " : no data"
HDH_ERROR = 1
}
}
else {
# we read the present buffer, because <CR> may never appear
str2 = esrf_io(HDH_DEV[$2],"DevSerReadString",0)
}
# X value if request = 0 or 1
if ($1 !=2 ) {
sscanf(str1,"%s%f",dummy,valx)
if (index(dummy,"-") !=0) {
valx = -valx
}
if ( HDH_PRINT == 1) {
print "X= " valx
}
HDH_VAL = valx
}
# Y value if request = 0 or 2
if ($1 !=1) {
sscanf(str2,"%s%f",dummy,valy)
if (index(dummy,"-") !=0) {
valy = -valy
}
if ( HDH_PRINT == 1) {
print "Y= " valy
}
HDH_VAL = valy
}
}
}
'
#-------------------------------------------
# hdh3_read `n' HDH_DEV_index
#
# Reads a 3 channels only equipement
# If n is not provided, prints the values of
# the 2 channels of a device
# If n is 1 : prints the value of X channel
# If n is 2 : prints the value of Y channel
#
# put the last read value in HDH_VAL
#%UU% <n> <HDH_DEV_index>
#%MDESC%
# reads a THREE channels equipement.
#%BR% reads the heidenhain channel value for the `HDH_DEV_index'th
# encoder, according to `n'.
#%BR% If n is not provided, prints the values of
# the 2 channels of a device
#%BR% If n is 1 : prints the value of X channel and puts it in HDH_VAL
#%BR% If n is 2 : prints the value of Y channel and puts it in HDH_VAL
def hdh3_read '
{
local str1 str2 dummy valx valy str3 len
HDH_ERROR = 0
esrf_io(HDH_DEV[$2],"DevSerWriteString","\2")
# X: read until <CR>,
str1 = esrf_io(HDH_DEV[$2],"DevSerReadString",2)
len = length(str1)
if (len == 0) {
print HDH_MNE[$2] X " : no data"
HDH_ERROR = 1
}
else {
#
if ($1 !=1) {
# should be a valid Y value
str2 = esrf_io(HDH_DEV[$2],"DevSerReadString",2)
len = length(str2)
if (len == 0) {
print HDH_MNE[$2] Y " : no data"
HDH_ERROR = 1
}
}
else {
# we read the present buffer, because <CR> may never appear
str2 = esrf_io(HDH_DEV[$2],"DevSerReadString",0)
}
# we flush the buffer
str3 = esrf_io(HDH_DEV[$2],"DevSerReadString",0)
# X value if request = 0 or 1
if ($1 !=2 ) {
sscanf(str1,"%s%f",dummy,valx)
if (index(dummy,"-") !=0) {
valx = -valx
}
if ( HDH_PRINT == 1) {
print "X= " valx
}
HDH_VAL = valx
}
# Y value if request = 0 or 2
if ($1 !=1) {
sscanf(str2,"%s%f",dummy,valy)
if (index(dummy,"-") !=0) {
valy = -valy
}
if ( HDH_PRINT == 1) {
print "Y= " valy
}
HDH_VAL = valy
}
}
}
'
#-------------------------------------------
# hdh1_read3 motor_mne 1/2 HDH_list_index
#
# HDH_list_index: index in HDH_xx list
#
# macro for the pseudo_motor mecanism
#
#%UU% <motor_mne> <1/2> <HDH_DEV_index>
#%MDESC%
# macro for the pseudo_motor mecanism (ONE channel equipement)
#%UL%
#%LI% motor_mne : motor mnemonic
#%LI% 1/2 : unused
#%LI% HDH_DEV_index : index in the devices list.
#%XUL%
def hdh1_read3'
HDH_PRINT=0
if (set_sim(-1) > 0) {
HDH_VAL = A[$1]
}
else {
hdh1_read $2 $3
if (HDH_ERROR == 0) {
A[$1]=HDH_VAL
}
}
HDH_PRINT=1
'
#-------------------------------------------
# hdh2_read3 motor_mne 1/2 HDH_list_index
#
# HDH_list_index: index in HDH_xx list
# 1 -> if interested by X value of Hdh
# 2 -> if interested by Y value of Hdh
#
# macro for the pseudo_motor mecanism
# put the value in HDH_VAL
#
#%UU% <motor_mne> <1/2> <HDH_DEV_index>
#%MDESC%
# macro for the pseudo_motor mecanism (TWO channel equipement)
#%UL%
#%LI% motor_mne : motor mnemonic
#%LI% 1/2 : 1 if X channel, 2 if Y channel.
#%LI% HDH_DEV_index : index in the device list
#%XUL%
def hdh2_read3'
HDH_PRINT=0
if (set_sim(-1) > 0) {
HDH_VAL = A[$1]
}
else {
hdh2_read $2 $3
if (HDH_ERROR == 0) {
A[$1]=HDH_VAL
}
}
HDH_PRINT=1
'
#-------------------------------------------
# hdh3_read3 motor_mne 1/2 HDH_list_index
#
# HDH_list_index: index in HDH_xx list
# 1 -> if interested by X value of Hdh
# 2 -> if interested by Y value of Hdh
#
# macro for the pseudo_motor mecanism
# put the value in HDH_VAL
#
#%UU% <motor_mne> <1/2> <HDH_DEV_index>
#%MDESC%
# macro for the pseudo_motor mecanism (THREE channels equipement)
#%UL%
#%LI% motor_mne : motor mnemonic
#%LI% 1/2 : 1 if X channel, 2 if Y channel.
#%LI% HDH_DEV_index : index in the device list
#%XUL%
def hdh3_read3'
HDH_PRINT=0
if (set_sim(-1) > 0) {
HDH_VAL = A[$1]
}
else {
hdh3_read $2 $3
if (HDH_ERROR == 0) {
A[$1]=HDH_VAL
}
}
HDH_PRINT=1
'
#%MACROS%
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