#! /bin/csh -f
#
#	try to see if the door is open or shut
#
#
echo -n "\r" | sock_exchange.tcl pmac1 14001 1 "\006" 0.1 > /dev/null
if($status) goto xos
set openreq = `echo -n "M7003\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 | awk '{print $1+0}'`
set closed  = `echo -n "M7004\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 | awk '{print $1+0}'`
set unlock  = `echo -n "M7024\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 | awk '{print $1+0}'`


if ( "$1" == "lock") then
    echo "locking hutch door"
    echo -n "M7024=0\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 > /dev/null
endif

if ( "$1" == "unlock") then
    echo "unlocking hutch door"
    echo -n "M7024=1\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 > /dev/null
endif

set openreq = `echo -n "M7003\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 | awk '{print $1+0}'`
set closed  = `echo -n "M7004\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 | awk '{print $1+0}'`
set unlock  = `echo -n "M7024\r" | sock_exchange.tcl pmac1 14001 1 "\006" 1 | awk '{print $1+0}'`

goto report


xos:
set door = `echo -n "" | xos3_exchange.tcl 1 "set_motor_dependency" 1 | awk '/door/{print $(NF-2), $NF}'`
set closed = `echo "$door" | awk '/door closed/{closed=1} {print closed+0}'`
set unlock = `echo "$door" | awk '/door_lock closed/{closed=1} {print 1-closed}'`


if ( "$1" == "lock") then
    echo "locking hutch door"
    echo "gtos_become_master force\ngtos_set_shutter_state door_lock close" | xos3_exchange.tcl 1 "door_lock close" 1 > /dev/null
endif

if ( "$1" == "unlock") then
    echo "unlocking hutch door"
    echo "gtos_become_master force\ngtos_set_shutter_state door_lock open" | xos3_exchange.tcl 1 "door_lock open" 1 > /dev/null
endif

set door = `echo -n "" | xos3_exchange.tcl 1 "set_motor_dependency" 1 | awk '/door/{print $(NF-2), $NF}'`
set closed = `echo "$door" | awk '/door closed/{closed=1} {print closed+0}'`
set unlock = `echo "$door" | awk '/door_lock closed/{closed=1} {print 1-closed}'`


goto report

report:
set state = open
if ( $closed ) set state = closed
set lock = locked
if ( $unlock ) set lock = unlocked

echo "hutch door is $state and $lock"

exit

set tempfile = /tmp/snap$$
set path = ( ~jamesh/imagemath/kuim/bin/ $path )
snap.com -nodisplay 4 ${tempfile}snap.jpg >& /dev/null
composite -compose Multiply /data/calibrations/door_mask.bmp ${tempfile}snap.jpg ${tempfile}.jpg


set state = "in unknown state"

set openscore = `avediff /data/calibrations/door_open.jpg ${tempfile}.jpg | awk '/Total/{printf "%d", $NF*1000}' | tail -1`
set closescore = `avediff /data/calibrations/door_closed.jpg ${tempfile}.jpg | awk '/Total/{printf "%d", $NF*1000}' | tail -1`

if($openscore > $closescore) then
    set state = open
else
    set state = closed
endif

echo "hutch door is $state"

rm -f ${tempfile}snap.jpg
rm -f ${tempfile}.jpg