- extended evcontroller

- remote objects
- new ev drivers for oxford IPS,ITC,ILM and LC
M.Z.


SKIPPED:
	psi/eve.c
	psi/eve.h
	psi/fsm.c
	psi/fsm.h
	psi/ilmdriv.c
	psi/ipsdriv.c
	psi/itcdriv.c
	psi/lcdriv.c
	psi/logger.c
	psi/logger.h
	psi/make_gen
	psi/oicom.c
	psi/oicom.h
	psi/psi.c
	psi/remob.c
	psi/remob.h
	psi/tecs/didi
	psi/tecs/make_crv.tcsh
	psi/tecs/make_gen
	psi/tecs/myc_buf.c
	psi/tecs/six.c
	psi/tecs/tecs.c
	psi/tecs/tecs_client.f
	psi/tecs/tecs_plot.f
	psi/tecs/term.c
	psi/tecs/pg_plus/xwdriv.c

motor.c

@@ -76,6 +76,7 @@
 #define ECOUNT  11
 #define POSCOUNT 12
 #define IGNOREFAULT 13
+
 /*------------------------------------------------------------------------
    a tiny structure used in CallBack work
 */
@@ -119,6 +120,7 @@
     if(self->pDrivInt->iErrorCount < 0)
       self->pDrivInt->iErrorCount = 0;
 
+    self->stopped = 1;
     return self->pDriver->Halt((void *)self->pDriver);
   }
   
@@ -208,7 +210,7 @@ static int statusRunTo(pMotor self, SConnection *pCon)
   if(self->retryCount >= ObVal(self->ParArray,POSCOUNT))
   {
     snprintf(pBueffel,255,"ERROR: aborting motor %s after %d retries",
-	     self->name, (int)ObVal(self->ParArray,POSCOUNT));
+	     self->name, self->retryCount);
     SCWrite(pCon,pBueffel,eError);
     return HWFault;
   }
@@ -230,10 +232,16 @@ static int checkPosition(pMotor self, SConnection *pCon)
   self->fPosition = fHard;
   if(absf(fHard - self->fTarget) > ObVal(self->ParArray,PREC))
   {
-     if(SCGetInterrupt(pCon) != eContinue)
+     if (SCGetInterrupt(pCon) != eContinue)
      {
        return HWFault;
      }
+     if(self->stopped)
+     {
+       snprintf(pBueffel,131,"WARNING: %s stopped", self->name);
+       SCWrite(pCon,pBueffel, eWarning);                    
+       return HWFault;
+     }
      snprintf(pBueffel,131,"WARNING: %s off position by %f",
                  self->name, absf(fHard - self->fTarget));
      SCWrite(pCon,pBueffel, eWarning);                    
@@ -248,6 +256,7 @@ static void finishDriving(pMotor self, SConnection *pCon)
   MotCallback sCall;
   MotorGetSoftPosition(self,pCon,&sCall.fVal);
   sCall.pName = self->name;
+  InvokeCallBack(self->pCall, MOTDRIVE, &sCall); /* send also very last position */
   InvokeCallBack(self->pCall, MOTEND, &sCall);
 }
 /*--------------------------------------------------------------------*/
@@ -494,7 +503,8 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
      }
      return status;
   }
-/*---------------------------------------------------------------------------*/  pMotor MotorInit(char *drivername, char *name, MotorDriver *pDriv)
+/*---------------------------------------------------------------------------*/
+  pMotor MotorInit(char *drivername, char *name, MotorDriver *pDriv)
   {
     pMotor pM =  NULL;
     
@@ -866,6 +876,7 @@ extern void KillPiPiezo(void *pData);
     /* Boundaries OK, send command */
     self->posFaultCount = 0;
     self->retryCount = 0;
+    self->stopped = 0;
     self->fTarget = fHard;
     iRet = self->pDriver->RunTo(self->pDriver,fHard);
     if(iRet != OKOK)
@@ -1392,7 +1403,7 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
           }
           else
           {
-            sprintf(pBueffel, " %s.%s = %f",self->name,pName->text,fValue);
+            sprintf(pBueffel, "%s.%s = %f",self->name,pName->text,fValue);
             SCWrite(pCon,pBueffel,eValue);
             DeleteTokenList(pList);
             return 1;