Cleaned up ANSTO code to merge with sinqdev.sics

This is our new RELEASE-4_0 branch which was taken from ansto/93d9a7c
Conflicts:
	.gitignore
	SICSmain.c
	asynnet.c
	confvirtualmot.c
	counter.c
	devexec.c
	drive.c
	event.h
	exebuf.c
	exeman.c
	histmem.c
	interface.h
	motor.c
	motorlist.c
	motorsec.c
	multicounter.c
	napi.c
	napi.h
	napi4.c
	network.c
	nwatch.c
	nxscript.c
	nxxml.c
	nxxml.h
	ofac.c
	reflist.c
	scan.c
	sicshipadaba.c
	sicsobj.c
	site_ansto/docs/Copyright.txt
	site_ansto/instrument/lyrebird/config/tasmad/sicscommon/nxsupport.tcl
	site_ansto/instrument/lyrebird/config/tasmad/taspub_sics/tasscript.tcl
	statusfile.c
	tasdrive.c
	tasub.c
	tasub.h
	tasublib.c
	tasublib.h

confvirtualmot.c

@@ -14,14 +14,14 @@
   - a checkscript to be run at the end of driving the motor
   - a means to call the write script multiple times. This is useful if
     you need to drive to the value in multiple steps. An example is the
-    BOA double crystal monochromator where you first have to pu the baldes to
+    BOA double crystal monochromator where you first have to put the blades to
     0, then drive the translation and then drive the blades to the real theta.
     All this to avoid collisions. In order to support this, a state field and
     and a readable target field has been added. The mode of operation is such
     that the on first run the, writescript set the state to something different
     then idle. This causes after the first set of motors finished running the
     writescript to be called again. This can figure out by lookin at the
-    state variable what to do. This can be doen in  repetition until the
+    state variable what to do. This can be done in  repetition until the
     writescript sets state to idle again.
 
     Mark Koennecke, April 2012
@@ -51,6 +51,7 @@ typedef struct {
   pIDrivable pDriv;
   float value;
   int running;
+  long taskID;
 } RealMotor, *pRealMotor;
 
 /* Data passed by event generating object */
@@ -183,9 +184,9 @@ static int startMotorList(pConfigurableVirtualMotor self,
   iRet = LLDnodePtr2First(self->motorList);
   while (iRet != 0) {
     LLDnodeDataTo(self->motorList, &tuktuk);
-    status = tuktuk.pDriv->SetValue(tuktuk.data, pCon, tuktuk.value);
-    if (status != 1) {
-      return status;
+    tuktuk.taskID = StartDriveTask(tuktuk.data,pCon,tuktuk.name,tuktuk.value);
+    if (tuktuk.taskID < 0) {
+      return HWFault;
     }
     tuktuk.running = 1;
     LLDnodeDataFrom(self->motorList, &tuktuk);
@@ -346,28 +347,12 @@ static int ConfCheckStatus(void *pData, SConnection * pCon)
   while (iRet != 0) {
     LLDnodeDataTo(self->motorList, &tuktuk);
     if (tuktuk.running == 1) {
-      status = tuktuk.pDriv->CheckStatus(tuktuk.data, pCon);
-      switch (status) {
-      case HWIdle:
-        tuktuk.running = 0;
+      status = isTaskIDRunning(pServ->pTasker,tuktuk.taskID);
+      if(status == 1){
+	return HWBusy;
+      } else {
+	tuktuk.running = 0;
         LLDnodeDataFrom(self->motorList, &tuktuk);
-        break;
-      case HWBusy:
-        result = HWBusy;
-        break;
-      case HWFault:
-      case HWPosFault:
-    	if(self->state != NULL){
-    		free(self->state);
-    		self->state = strdup("idle");
-    	}
-        return status;
-        break;
-      default:
-        /*
-           this is a programming error and has to be fixed
-         */
-        assert(0);
       }
     }
     iRet = LLDnodePtr2Next(self->motorList);