#!/bin/csh -f
#+
#NAME
# wfmech - waits until all motors (SPEC or IMAG) are idle using OGS keywords
#
#-
# Modification History:
# 20041005 - MB: Copied from NIRC2 and adapted for OSIRIS
# 20181109 - jlyke: Re-work to handle the safeties for new imager FW's
# 20190512 - jlyke: Add fix_sfilter to spec side of wfmech
#

# Boiler plate for "-h" support for command autohelp.

if ("$1" == "-h") then
    help $0 | more
    exit $status
endif

# Boilerplate for syncheck.
# Note that the boiler plate should be transparent for all usages,
# but to make correct use of syncheck you will need to specify the
# correct pattern.

set noglob
set CheckStatus = `syncheck -command $0 $* -pattern [SPEC,spec,IMAG,imag]`
unset noglob

if ("$CheckStatus" != "OK") then
    help $0
    exit 1
endif

# End of help/syncheck boiler plate.

# Set up to trap control-C
onintr reset

# Set default values
set fcmd = $0
set cmd = ${fcmd:t}

# Decide if we should check SPEC or IMAG
set mode = $1
switch ($mode)
    case "SPEC":
    case "spec":
        set side = "spec"
        set iterations = 1
	set MotList = (ss1 ss2 sfw slm)	### Direct subserver commands
	# set MotList = (om1s om2s om3s om4s)
    breaksw
    case "IMAG":
    case "imag":
        set side = "imag"
        # OGS has protections agains open-open that move IF1/2 multiple times 
        set iterations = 2
	set MotList = (if1 if2)
	# set MotList = (om5s om6s) ### Direct subserver commands
	breaksw
    default:
	echo "Specified mode must be SPEC or IMAG"
	exit 1
	breaksw
endsw

# Check all motors.
set timeout = 30
set sfwtime = 3

set iter = 0
while ( $iter < $iterations )
  foreach Motor ($MotList)
    echo -n "${cmd} ${mode}: Waiting for ${Motor}."
    set count = 0
    set flag = `show -s osiris -terse "$Motor"stat`
    # set flag = `show -s "$Motor" -terse status` ### Direct subserver commands
    while ( ("$flag" != "OK") && ($count <= $timeout) )
	@ count++
        # if sfw and count > server update time and the wheel is not moving
        if ("$Motor" == "sfw" && $count > $sfwtime && $flag != "Moving") then
          fix_sfilter
        endif
	echo -n "."
        sleep 1
	set flag = `show -s osiris -terse "$Motor"stat`
	# set flag = `show -s "$Motor" -terse status` ### Direct subserver commands
    end
    if ( "$flag" == "OK" ) then
	echo "OK"
    else
	echo "Timed Out"
	exit 2
    endif
  end # foreach
  sleep 1
  @ iter++
end # while

# fix_sfilter for SPEC
if ($side == "spec") then
  fix_sfilter
endif

# one last check for imag
if ($side == "imag") then
  set count = 0
  # when not done, there are spaces and a "?" in the filter name
  set ifilter = (`show -s osiris -terse ifilter | sed -e 's/\?/-/g'`)
  echo -n "${cmd} ${mode}: Waiting for final config."
  while ($#ifilter > 1 && $count <= $timeout )
    @ count++
    echo -n "."
    sleep 1
    set ifilter = (`show -s osiris -terse ifilter | sed -e 's/\?/-/g'`)
  end
  if ( $#ifilter == 1 ) then
    echo "OK"
  else
    echo "Timed Out"
    exit 2
  endif
endif

exit

reset:
# put stuff here
exit 1