#%TITLE% Motor Power
#%NAME%
#   Macros to manage the electrical power of motors. 
#
#%DESCRIPTION%
# These macros allow the electrical power of a motor to be turned off while
# the motor is not moving. This avoids the motor heating, specially useful
# with high-power motors in vacuum environments. There are two working modes:
# %UL%
# %LI% Standard - Motor power is always ON
# %LI% Optimum  - Motor power is ON just when the motor moves
# %XUL%
#
# Currently this only works for MAXE motors. Please not that this won't work 
# with the DPAP7.
#
# Recent versions of the Maxe device server (linux version) implement this 
# functionality through the use of device server resources. The macros
# can still be interested if using an os9 version. 
#
#%EXAMPLE%
# %DL%
# %DT% motorpowersetup m1 m2 m3
# %DD% Initialises the macros and configure motors %B%m1%B%, %B%m2%B% and 
#      %B%m3%B% in %B%Optimum%B% mode
#
# %DT% motorpowerstandard m3
# %DD% Switch motor %B%m3%B% to %B%Standard%B% mode
#
# %DT% motorpoweroptimum m3
# %DD% Switch motor %B%m3%B% back to %B%Optimum%B% mode
# %XDL%
#
#%LOG%
# $Log: motorpower.mac,v $
# Revision 1.2  2008/08/12 14:10:35  rey
# documentation changes
#
# Revision 1.1  2004/04/27 09:20:57  ahoms
# Added motorpowerstatus
#
# Revision 1.0  2003/11/06 16:09:37  ahoms
# Initial revision
#
#%END%

#%UU% mne1 mne2 ...
#%MDESC% 
# Setup the motorpower macros. Specified motors will be added 
# in Optimum mode. Multiple %B%motorpowersetup%B% lines can be 
# specified.
def motorpowersetup '{
  global MOTPOW
  local mnestr mnearr[] key mne mnum

  mnestr = "Enter the motors to configure in \"motorpower\""
  mnestr = ($# > 0) ? "$*" : getval(mnestr, "")
  split(mnestr, mnearr)
  for (key in mnearr) {
    mne = mnearr[key]
    mnum = motor_num(mne)
    if (motor_mne(mnum) != mne) {
      print "motorpower invalid motor:", mne
      exit
    } else if (!motorpower_check(mnum))
      exit

    cdef("user_getangles", sprintf("motorpower_getangles %s; ", mne), mne, 0x01)
    cdef("user_checkall",  sprintf("motorpower_checkall  %s; ", mne), mne, 0x01)
    cdef("user_finished",  sprintf("motorpower_finished  %s; ", mne), mne, 0x01)

    MOTPOW[mne]["config"] = 1

    motorpoweroptimum mne

    if (SETUP) 
      setup_tail("motorpower", mne)
  }
}'


#%IU% (mnum)
#%MDESC%
# Checks that the specified motor is a MAXE
def motorpower_check(mnum) '{
  if (index(motor_par(mnum, "controller"), "MAXE") == 0) {
    print "motorpower: motor is not a MAXE:", motor_mne(mnum)
    return 0
  }

  return 1
}'

#%IU% mne
#%MDESC%
# Called in user_getangles. It will save the current position of the motor
def motorpower_getangles '{
  if (MOTPOW["$1"]["active"]) {
    MOTPOW["$1"]["move"] = 0
    MOTPOW["$1"]["pos"] = A[$1]
  }
}'

#%IU% mne
#%MDESC%
# Called in user_checkall. It will check if the motor is going to move and
# enable its power in case of Optimum mode
def motorpower_checkall '{
  if (MOTPOW["$1"]["active"]) {
    if (fabs(A[$1] - MOTPOW["$1"]["pos"]) >= \
	(0.9 / motor_par($1, "step_size"))) {
      MOTPOW["$1"]["move"] = 1
      motorpower_enable($1)
    }
  }
}'

#%IU% mne
#%MDESC%
# Called in user_finished. If the motor was moved,  disable the power if 
# it's on Optimum mode
def motorpower_finished '{
  if (MOTPOW["$1"]["active"] && MOTPOW["$1"]["move"])
    motorpower_disable($1)
}'

#%IU% mne
#%MDESC%
# Switch to Standard motor power control: always on
def motorpowerstandard '{
  local xmne

  xmne = ($# > 0) ? motor_mne(motor_num($1)) : \
		    getval("Enter the motor mnemonic", "")
  if (!MOTPOW[xmne]["config"]) {
    print "motorpower: motor not configured:", xmne, "- Use \"motorpowersetup\""
    exit 
  }

  MOTPOW[xmne]["active"] = 0
  motorpower_enable(motor_num(xmne))
}'

#%IU% mne
#%MDESC%
# Switch to Optimum motor power control: on only while moving
def motorpoweroptimum '{
  local xmne

  xmne = ($# > 0) ? motor_mne(motor_num($1)) : \
		    getval("Enter the motor mnemonic", "")
  if (!MOTPOW[xmne]["config"]) {
    print "motorpower: motor not configured:", xmne, "- Use \"motorpowersetup\""
    exit 
  }

  MOTPOW[xmne]["active"] = 1
  motorpower_disable(motor_num(xmne))
}'

#%UU% (mnum)
#%MDESC%
# Enables the specified motor power
def motorpower_enable(mnum) '{
  if (motorpower_check(mnum))
    esrf_io(motor_par(mnum, "device_id"), "DevEnablePower", \
					  motor_par(mnum, "channel"))
}'

#%UU% (mnum)
#%MDESC%
# Disables the specified motor power
def motorpower_disable(mnum) '{
  if (motorpower_check(mnum))
    esrf_io(motor_par(mnum, "device_id"), "DevDisablePower", \
					  motor_par(mnum, "channel"))
}'

#%IU% mne
#%MDESC% 
# Called when the particular motor is removed from the setup
def motorpowerunsetup '{
  motorpowerdel $*
}'

#%UU% mne1 mne2 ...
#%MDESC%
# Delete hooks in macros for the specified mnemonics
def motorpowerdel '{
  local mnestr mnearr[] key mne

  mnestr = "Enter the motors to remove from \"motorpower\""
  mnestr = ($# > 0) ? "$*" : getval(mnestr, "")
  split(mnestr, mnearr)
  for (key in mnearr) {
    mne = mnearr[key]
    cdef("user_getangles", "", mne, "delete")
    cdef("user_checkall",  "", mne, "delete")
    cdef("user_finished",  "", mne, "delete")

    motorpower_enable(motor_num(mne))
  }
}'

#%UU%
#%MDESC%
# Show the status of all configured motors
def motorpowerstatus '{
  local i mne

  for (i = 0; i < MOTORS; i++) {
    mne = motor_mne(i)
    if (MOTPOW[mne]["config"])
      printf("%s\t%s\n", mne, MOTPOW[mne]["active"] ? "Optimum" : "Standard")
  }
}'

#%MACROS%
#%IMACROS%
#%INTERNALS%
# The macros use the standard %B%user_getangles%B%, %B%user_checkall%B% and
# %B%user_finished%B% macros. In principle, a real motor should not have hooks 
# on those macros.  If another set of macros hooks on them, the later in the 
# setup will be the only one to work.
#
#%AUTHOR% A. Homs, (Original 11/2003) %BR%
# $Revision: 1.2 $ / $Date: 2008/08/12 14:10:35 $
#%TOC%