fix Koala command lost issue

bragg/koala/au.gov.ansto.bragg.koala.ui/src/au/gov/ansto/bragg/koala/ui/sics/CollectionHelper.java

@@ -390,8 +390,9 @@ public void collect(final int exposure, final int retry) throws KoalaServerExcep
 			while (!isStarted && ct <= START_TIMEOUT * 1000) {
 				String err = getErrorMessage();
 				if (err != null && err.length() > 0) {
-					String galilState = galilStatusController.getValue().toString();
-					throw new KoalaServerException(err + ", galil state = " + (galilState.length() == 0 ? "<EMPTY>" : galilState));
+//					String galilState = galilStatusController.getValue().toString();
+//					throw new KoalaServerException(err + ", galil state = " + (galilState.length() == 0 ? "<EMPTY>" : galilState));
+					throw new KoalaServerException(err);
 				}
 				try {
 					Thread.sleep(CHECK_CYCLE);

bragg/koala/au.gov.ansto.bragg.koala.ui/src/au/gov/ansto/bragg/koala/ui/sics/ControlHelper.java

@@ -109,6 +109,7 @@ public String getText() {
 	public static final String GUMTREE_USER_NAME = "gumtree.koala.username";
 	public static final String GALIL_STATE = "gumtree.koala.galilState";
 	public static final String GALIL_STATUS = "gumtree.koala.galilStatus";
+	public static final String GALIL_STATUS_MESSAGE = "gumtree.koala.galilStatusMsg";
 
 	private final static Color BUSY_COLOR = Display.getDefault().getSystemColor(SWT.COLOR_GREEN);
 	private final static Color IDLE_COLOR = Display.getDefault().getSystemColor(SWT.COLOR_BLACK);
@@ -611,6 +612,7 @@ public static String getGalilError() {
 		String err = "";
 		try {
 			ISicsController device = getProxy().getSicsModel().findController(System.getProperty(GALIL_STATUS));
+			ISicsController msgDevice = getProxy().getSicsModel().findController(System.getProperty(GALIL_STATUS_MESSAGE));
 			if (device != null) {
 				int status = ((IDynamicController) device).getControllerDataValue().getIntData();
 				if (status < 0) {
@@ -677,6 +679,32 @@ public static String getGalilError() {
 								+ "engineering team for help.";
 						break;
 					}
+				} else if (status > 0) {
+					err = "GALIL_STATUS = " + status + "; ";
+					switch (status) {
+					case 1:
+						err += "Motion disabled. Please ensure it's safe to drive motors and use the control "
+								+ "panel on the wall to enable motion control.";
+						break;
+					case 2:
+						err += "Axis B forward limit switch activated. Contact instrument scientist for further instructions.";
+						break;
+					case 4:
+						err += "Axis B Reverse limit switch activated. Contact instrument scientist for further instructions.";
+						break;
+					case 8:
+						err += "Sample not within ±12mm of beam height. Use the the 'Move Sample Z to Beam' button in "
+								+ "the footbar of this window to drive sample into the beam.";
+						break;
+					default:
+						break;
+					} 
+					if (msgDevice != null) {
+						String msg = ((IDynamicController) msgDevice).getControllerDataValue().getStringData();
+						if (msg != null && msg.trim().length() > 0) {
+							err += "\nGalil Status message: " + msg.trim();
+						}
+					}
 				}
 			}
 		} catch (Exception e) {
@@ -824,7 +852,7 @@ public void updateTarget(Object oldValue, Object newValue) {
 
 	public static class SampleZHelper {
 
-		public static final String MOVE_Z_UP 	= "Sample Stage Up ";
+		public static final String MOVE_Z_UP 	= "Move Sample Stage Up ";
 		public static final String MOVE_Z_BACK 	= "Move Sample Z to Beam ";
 
 		private Button samzButton;

bragg/nbi/au.gov.ansto.bragg.nbi.workbench/gumtree.properties

@@ -920,7 +920,7 @@ gumtree.platform.defaultNewWindow[instr@bilby]					= au.gov.ansto.bragg.nbi.ui.s
 ###############################################################################
 
 gumtree.sics.useNewProxy[instr@emu][env@dev,test]			= true
-gumtree.control.serverHost[instr@emu][env@dev,test]			= tcp://ics1-emu.nbi.ansto.gov.au
+gumtree.control.serverHost[instr@emu][env@dev,test]			= tcp://ics4-koala-test.nbi.ansto.gov.au
 
 gumtree.startExperimentLayout[instr@emu][mode@experiment] 	= true
 gumtree.startExperimentLayout[instr@emu][mode@analysis] 	= false
@@ -986,9 +986,9 @@ gumtree.sics.useNewProxy[instr@koala]							= true
 gumtree.koala.virtualServer[instr@koala][env@prod]				= false
 gumtree.koala.virtualServer[instr@koala][env@dev,test]			= false
 
-gumtree.control.serverHost[env@dev][instr@koala]				= tcp://localhost
+#gumtree.control.serverHost[env@dev,test][instr@koala]				= tcp://localhost
 #gumtree.control.serverHost[env@dev][instr@koala]				= tcp://ics1-wombat.nbi.ansto.gov.au
-#gumtree.control.serverHost[env@dev][instr@koala]				= tcp://ics1-koala.nbi.ansto.gov.au
+gumtree.control.serverHost[env@dev][instr@koala]				= tcp://ics1-koala.nbi.ansto.gov.au
 #gumtree.control.serverHost[env@dev][instr@koala]				= tcp://ics1-emu.nbi.ansto.gov.au
 gumtree.control.serverHost[env@prod][instr@koala]				= tcp://ics1-koala.nbi.ansto.gov.au
 gumtree.koala.vlcpath[env@test,dev] = C:/Program Files/VideoLAN/VLC.17
@@ -1079,6 +1079,7 @@ gumtree.path.gumtreestatus[instr@koala]							= /experiment/gumtree_status
 gumtree.path.gumtreetime[instr@koala]							= /experiment/gumtree_time_estimate
 gumtree.koala.galilState[instr@koala]							= /instrument/image/galil_api/STATE
 gumtree.koala.galilStatus[instr@koala]							= /instrument/image/galil_api/STATUS
+gumtree.koala.galilStatusMsg[instr@koala]						= /instrument/image/galil_api/status_msg
 gumtree.koala.samplename[instr@koala]							= /sample/name
 gumtree.koala.comments[instr@koala]								= /sample/description
 gumtree.koala.username[instr@koala]								= /user/name

framework/sics/org.gumtree.control.core/src/org/gumtree/control/imp/SicsChannel.java

@@ -90,7 +90,7 @@ public SicsChannel(SicsProxy sicsProxy) {
 	    clientSocket.setSendTimeOut(SEND_TIMEOUT);
 	    clientSocket.setLinger(0);
 //	    clientSocket.setBacklog(1);
-	    clientSocket.setConflate(true);
+//	    clientSocket.setConflate(true);
 //	    clientSocket.setReceiveTimeOut(COMMAND_TIMEOUT);
 	    clientSocket.setIdentity(id.getBytes(ZMQ.CHARSET));
 	    messageHandler = new MessageHandler(sicsProxy);