#!/home/mirror/tcstcl --

set helpTopics(default) {Current commands:
  getPOS	- get the values associated with the hexapod FOO command
  help          - this command - take an optional argument, for more detail
  abort		- exit gracefully
  exit		- exit gracefully
}
set helpCmds(foo) {foo}

# Procedure: Help
proc Help { {topic "default"} {x "0"} {y "0"}} {
    global helpTopics helpCmds
    if {$topic == ""} return
    while {[info exists helpCmds($topic)]} {
        set topic [eval $helpCmds($topic)]
    }
    if [info exists helpTopics($topic)] {
        set msg $helpTopics($topic)
    } else {
        set msg "Sorry, but no help is available for this topic"
    }

puts $msg
#    mkDialog .help "-text {Information on $topic:\n\n$msg} -justify left -aspect 300" "OK {}"
}


proc getPos {{point "1"}} {
    global microridge
    global val timestamp
    set error {}
    set val {not valid}

    exp_send "$microridge(R,$point)"
    expect {
	 -re " *(\[^,]+),(\[^,]+),(\[^\r]*)\r" {
	    set val $expect_out(buffer)
	    set microridge(R,$point,data)       $expect_out(1,string)
	    set microridge(R,$point,units)       $expect_out(2,string)
	    set microridge(R,$point,channelId)  $expect_out(3,string)
#	    puts $expect_out(1,string)
#	    puts $expect_out(2,string)
#	    puts $expect_out(3,string)
	    # last line - so bail
	}
	timeout {
	    set microridge(R,$point,data)     "-999.999"
	    set microridge(R,$point,units)    "timeout"
	    set microridge(R,$point,channelId) "timeout"
	}
	eof {lappend error "unexpected EOF"; puts eof}
    }


    if {[llength $error] == 0} {
	set timestamp [exp_timestamp]
	set microridge(R,$point,timestamp) $timestamp
    } else {
	set timestamp 0
	foreach err $error {
	    puts "getPos: $err"
	}
    }


}


proc abort {{rtn "-1"}} {
  global kprompt
  # close kermit
  exp_send \034C
  expect {
	$kprompt {#puts "abort: got prompt"}
	timeout {puts "abort: timeout"}
	eof	{puts "abort: eoft"}
  }
  exp_send quit
#  expect 
#  wait
  exit $rtn
}

########################################################
# Start of program
########################################################

# only want tk for send (now)
#wm withdraw .

#set time_format "%c %Z"
set env(TZ) "UT"
set time_format "%Y:%j %X"
set timeout 3
set tcl_precision 10
#set tcshostname 128.171.165.3
set tcshostname vtcshost
log_user 0

# get in contact

#spawn tip microridge
#expect {
#    eof {puts "open failed"}
#    connected
#}

set kprompt microRidge-kermit>
spawn /home/mirror/kermit -l /dev/ttyS0 -b 9600 -C "set term byte 8, set term cr crlf, set prompt $kprompt" -Y
expect {
    $kprompt {#puts "opened tty, got $kprompt"}
    timeout  	{puts "kermitstart: timeout"; abort}
    eof  		{puts eof; abort}
}
exp_send "c\n"
expect {
    options.	{#puts "connected"}
    timeout  	{puts "kermitconnect:timeout"; abort}
    eof  		{puts eof; abort}
}

# ok, a little race condition - abort assumes we are here, but as soon as 
# kermit starts we need to exit it.
exit -onexit {
	abort
}

# now we are talking to the microridge

# clear cruft out
exp_send "<V"
expect {
    "MPX-4S-00-32-B, 3.05" {#puts "got version"}
    timeout  	{puts "timeout getting version"; abort}
    eof  		{puts eof; abort}
}

#setup channels
set microridge(R,1) "<RA"
set microridge(R,2) "<RB"
set microridge(R,3) "<RC"
set microridge(R,4) "<RD"
set microridge(R,5) "<RE"

set cnt 1

while {$cnt > 0} {

  # should be all at once - entering time critical area
  getPos 1
  getPos 2
  getPos 3
  getPos 4
  getPos 5

  set timestamp [exp_timestamp]

  set position [tcs_position -dec -ha]
  
  # end of time (almost) critical area

  set foo "$microridge(R,1,data) $microridge(R,2,data) $microridge(R,3,data) $microridge(R,4,data) $microridge(R,5,data)"
  set result {}
  foreach i $foo {
     if {$i != "timeout"} {
	lappend result [expr $i]
     } else {
	lappend result $i
     }	
  }

  set year [exp_timestamp -format %Y: -seconds $timestamp]
  set day [expr [exp_timestamp -format %j -seconds $timestamp] - 1]
  set rest [exp_timestamp -format %X -seconds $timestamp]
  set timestring "$year$day $rest"

  puts "$timestring $position $result"
  incr cnt -1
}


#puts ""
#puts "for help, use the Help command"

#interpreter