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

motorsec.c

@@ -47,6 +47,20 @@
 
 #define ABS(x) (x < 0 ? -(x) : (x))
 
+
+/*-------------------------------------------------------------------------*/
+static void SecMotorSetError(pMotor self, char *text)
+{
+  hdbValue v;
+  pHdb node;
+  
+  node = GetHipadabaNode(self->pDescriptor->parNode, "error");
+  if(node != NULL){
+    v = MakeHdbText(strdup(text));
+    UpdateHipadabaPar(node,v,NULL);
+    ReleaseHdbValue(&v);
+  }
+}
 /*--------------------------------------------------------------------------*/
 static int SecMotorGetPar(pMotor self, char *name, float *fVal)
 {
@@ -106,15 +120,17 @@ static long SecMotorRun(void *sulf, SConnection * pCon, float fNew)
   }
   self->stopped = 0;
   self->stopReported = 0;
+  self->fTarget = fNew;
 
-  v = MakeHdbFloat(fNew);
-  status = SetHipadabaPar(self->pDescriptor->parNode, v, pCon);
+  SecMotorSetError(sulf,"None");
   node = GetHipadabaNode(self->pDescriptor->parNode, "status");
   if(node != NULL){
     v = MakeHdbText(strdup("run"));
     UpdateHipadabaPar(node,v,pCon);
     ReleaseHdbValue(&v);
   }
+  v = MakeHdbFloat(fNew);
+  status = SetHipadabaPar(self->pDescriptor->parNode, v, pCon);
 
   return status;
 }
@@ -200,12 +216,17 @@ static int SecMotorLimits(void *sulf, float fVal, char *error, int iErrLen)
 {
   float fHard;
   pMotor self;
+  int status;
 
   assert(sulf);
 
   self = (pMotor) sulf;
 
-  return SecMotorCheckBoundary(self, fVal, &fHard, error, iErrLen);
+  status = SecMotorCheckBoundary(self, fVal, &fHard, error, iErrLen);
+  if(status != 1){
+    SecMotorSetError(sulf,error);
+  }
+  return status;
 }
 
 /*-----------------------------------------------------------------------*/
@@ -231,10 +252,11 @@ static int checkPosition(pMotor self, SConnection * pCon)
   if (ABS(target - hard) > precision) {
     if (self->retryCount >= (int) maxretry) {
       SCPrintf(pCon, eLogError,
-               "ERROR: Aborting %s after %d retries, off position by %f",
+               "ERROR: aborting %s after %d retries, off position by %f",
                self->name, (int) maxretry, target - hard);
       node = GetHipadabaNode(self->pDescriptor->parNode, "status");
       assert(node != NULL);
+      SecMotorSetError(self,"Aborted positioning after many retries");
       UpdateHipadabaPar(node, MakeHdbText("error"), pCon);
       return HWFault;
     }
@@ -277,6 +299,7 @@ static int SecMotorStatus(void *sulf, SConnection * pCon)
   pHdb node = NULL;
   hdbValue v;
   float interrupt;
+  char error[132];
 
   assert(sulf);
   self = (pMotor) sulf;
@@ -298,8 +321,20 @@ static int SecMotorStatus(void *sulf, SConnection * pCon)
     handleMoveCallback(self, pCon);
     status = HWBusy;
   } else if (strstr(v.v.text, "poserror") != NULL) {
+    SCWrite(pCon,"WARNING: Position not reached",eLog);
     status = checkPosition(self, pCon);
+  } else if (strstr(v.v.text, "restart") != NULL) {
+    SCPrintf(pCon,eLog,"WARNING: restarting motor %s", self->name);
+    SecMotorRun(self,pCon,self->fTarget);
+    return HWBusy;
   } else if (strstr(v.v.text, "error") != NULL) {
+    if(GetHdbProperty(node,"geterror",error,sizeof(error)) == 1){
+      SecMotorSetError(sulf,error);
+    }
+    node = GetHipadabaNode(self->pDescriptor->parNode, "targetposition");
+    if(GetHdbProperty(node,"geterror",error,sizeof(error)) == 1){
+      SecMotorSetError(sulf,error);
+    }
     status = HWFault;
   } else {
     SCPrintf(pCon, eError, "ERROR: unknown motor status %s found",
@@ -333,9 +368,16 @@ static float SecMotorGetValue(void *pData, SConnection * pCon)
 {
   int status;
   pMotor self = (pMotor) pData;
-  hdbValue v;
+  hdbValue v; 
+  char error[132];
+
 
   assert(pData);
+  status = GetHdbProperty(self->pDescriptor->parNode,"geterror", error,sizeof(error));
+  if(status == 1 && strcmp(error,"none") != 0) {
+    SCPrintf(pCon,eError,"ERROR: Failed to read %s with %s", self->name, error);
+    return -9999999.99;
+  }
   status = GetHipadabaPar(self->pDescriptor->parNode, &v, pCon);
   if (status != 1) {
     return -9999999.99;
@@ -423,7 +465,7 @@ static hdbCallbackReturn SecMotorCallback(pHdb node, void *userData,
   pHdb child = NULL;
   pMotor self = NULL;
   float fHard, fVal, sign, zero;
-  char pBueffel[512], pError[132];
+  char pBueffel[512], pError[132], *pPtr = NULL;
   int status;
 
   self = (pMotor) userData;
@@ -467,13 +509,14 @@ static hdbCallbackReturn SecMotorCallback(pHdb node, void *userData,
                self->name);
       SCWrite(pCon, pBueffel, eWarning);
       self->errorCount = 0;
+      self->pDrivInt->iErrorCount = 0;
     }
 
     /*
      * check for alarm condition
      */
     SecMotorGetPar(self, "failafter", &fVal);
-    if (self->pDrivInt->iErrorCount > (int) fVal) {
+    if (self->pDrivInt->iErrorCount >= (int) fVal) {
       /* big alarm */
       ServerWriteGlobal("ERROR: !!! MOTOR ALARM !!! MOTOR ALARM !!!",
                         eError);
@@ -483,6 +526,8 @@ static hdbCallbackReturn SecMotorCallback(pHdb node, void *userData,
       ServerWriteGlobal(pBueffel, eError);
       SCSetInterrupt(pCon, eAbortBatch);
       self->pDrivInt->iErrorCount = 0;
+      child = GetHipadabaNode(self->pDescriptor->parNode, "status");
+      UpdateHipadabaPar(child, MakeHdbText("run"), pCon);
       return hdbAbort;
     }
 
@@ -490,10 +535,10 @@ static hdbCallbackReturn SecMotorCallback(pHdb node, void *userData,
     self->retryCount = 0;
     self->stopped = 0;
     self->posCount = 0;
-    child = GetHipadabaNode(self->pDescriptor->parNode, "targetposition");
-    UpdateHipadabaPar(child, MakeHdbFloat(fHard), pCon);
     child = GetHipadabaNode(self->pDescriptor->parNode, "status");
     UpdateHipadabaPar(child, MakeHdbText("run"), pCon);
+    child = GetHipadabaNode(self->pDescriptor->parNode, "targetposition");
+    UpdateHipadabaPar(child, MakeHdbFloat(fHard), pCon);
     child = GetHipadabaNode(self->pDescriptor->parNode, "hardposition");
     SetHipadabaPar(child, MakeHdbFloat(fHard), pCon);
 
@@ -504,6 +549,12 @@ static hdbCallbackReturn SecMotorCallback(pHdb node, void *userData,
   if (mm != NULL) {
     pCon = (SConnection *) mm->callData;
     SecMotorGetPar(self, "hardposition", &fVal);
+    child = GetHipadabaNode(self->pDescriptor->parNode, "hardposition");
+    if((pPtr = GetHdbProp(child,"geterror")) != NULL){
+      SetHdbProperty(node,"geterror",pPtr);
+    } else {
+      SetHdbProperty(node,"geterror",NULL);
+    }
     fVal = hardToSoftPosition(self, fVal);
     node->value.v.doubleValue = fVal;
     mm->v->v.doubleValue = fVal;
@@ -518,6 +569,7 @@ static hdbCallbackReturn HardUpdateCallback(pHdb node, void *userData,
                                             pHdbMessage message)
 {
   pHdbDataMessage mm = NULL;
+  pHdbPropertyChange pm = NULL;
   pMotor self = (pMotor) userData;
   float fVal;
   hdbValue v;
@@ -532,6 +584,18 @@ static hdbCallbackReturn HardUpdateCallback(pHdb node, void *userData,
     UpdateHipadabaPar(self->pDescriptor->parNode, v, mm->callData);
     return hdbContinue;
   }
+
+  /*
+    forward geterror
+  */
+  pm = GetPropertyChangeMessage(message);
+  if(pm != NULL){
+    if(strstr(pm->key,"geterror") != NULL){
+      SetHdbProperty(self->pDescriptor->parNode,pm->key, pm->value);
+    }
+  }
+  
+
   return hdbContinue;
 }
 
@@ -611,6 +675,80 @@ static hdbCallbackReturn SecMotorZeroCallback(pHdb node, void *userData,
   return hdbContinue;
 }
 
+/*--------------------------------------------------------------------------*/
+typedef struct {
+  char *pName;
+  SConnection *pCon;
+  float lastValue;
+} MotInfo, *pMotInfo;
+/*--------------------------------------------------------------------------*/
+static void KillInfo(void *pData)
+{
+  pMotInfo self = NULL;
+
+  assert(pData);
+  self = (pMotInfo) pData;
+  if (self->pName) {
+    free(self->pName);
+  }
+  if (self->pCon != NULL) {
+    SCDeleteConnection(self->pCon);
+  }
+  free(self);
+}
+/*-------------------------------------------------------------------------*/
+static hdbCallbackReturn InterestCallback(pHdb node, void *userData,
+                                            pHdbMessage message)
+{
+  pHdbDataMessage mm = NULL;
+  pMotor self = (pMotor) userData;
+  float fVal;
+  hdbValue v;
+  pMotInfo priv = (pMotInfo)userData;
+
+
+  assert(self != NULL);
+
+  mm = GetHdbUpdateMessage(message);
+  if (mm != NULL) {
+    v = *mm->v;
+    if(!SCisConnected(priv->pCon)){
+      return hdbKill;
+    }
+    if(ABS(v.v.doubleValue - priv->lastValue) > .1) {
+      SCPrintf(priv->pCon,eValue,"%s.position = %f", 
+	       priv->pName, v.v.doubleValue);
+      priv->lastValue = v.v.doubleValue;
+    }
+    return hdbContinue;
+  }
+  return hdbContinue;
+}
+/*---------------------------------------------------------------------------*/
+static int InterestCmd(pSICSOBJ ccmd, SConnection * con,
+                      Hdb * cmdNode, Hdb * par[], int nPar)
+{
+  pMotInfo priv = NULL;
+
+  priv = malloc(sizeof(MotInfo));
+  if(priv == NULL){
+    SCWrite(con,"ERROR: out of memory registering interest",eError);
+    return 0;
+  }
+
+  if(nPar >= 1 && (strcmp(par[0]->value.v.text,"UNKNOWN") != 0)) {
+    priv->pName = strdup(par[0]->value.v.text);
+  } else {
+    priv->pName = strdup(ccmd->objectNode->name);
+  }
+  priv->lastValue = .0;
+  priv->pCon = SCCopyConnection(con);
+  AppendHipadabaCallback(ccmd->objectNode, 
+			 MakeHipadabaCallback(InterestCallback,priv,KillInfo));
+  SCSendOK(con);
+  return 1;
+
+}
 /*---------------------------------------------------------------------------*/
 pMotor SecMotorInit(char *name)
 {
@@ -672,6 +810,7 @@ pMotor SecMotorInit(char *name)
 
   child = MakeHipadabaNode("sign", HIPFLOAT, 1);
   SetHdbProperty(child, "__save", "true");
+  SetHdbProperty(child, "priv", "user");
   AddHipadabaChild(node, child, NULL);
   AppendHipadabaCallback(child,
                          MakeHipadabaCallback(SecMotorSignCallback, pM,
@@ -680,6 +819,7 @@ pMotor SecMotorInit(char *name)
 
   child = MakeHipadabaNode("softzero", HIPFLOAT, 1);
   SetHdbProperty(child, "__save", "true");
+  SetHdbProperty(child, "priv", "user");
   AddHipadabaChild(node, child, NULL);
   AppendHipadabaCallback(child,
                          MakeHipadabaCallback(SecMotorZeroCallback, pM,
@@ -744,6 +884,13 @@ pMotor SecMotorInit(char *name)
   SetHdbProperty(child, "motname", name);
   AddHipadabaChild(node, child, NULL);
 
+  child = MakeHipadabaNode("error", HIPTEXT, 1);
+  AddHipadabaChild(node, child, NULL);
+
+  child = AddSICSHdbPar(node,"interest", usUser, MakeSICSFunc(InterestCmd));
+  AddSICSHdbPar(child, "name", usUser, MakeHdbText("UNKNOWN"));
+
+
   pM->endScriptID = 0;
 
   /* initialise Drivable interface */
@@ -791,6 +938,8 @@ static void SecMotorKill(void *data)
     free(self->pDrivInt);
   }
 
+  RemoveHdbNodeFromParent(self->objectNode,NULL);  
+
   if (self->pCall) {
     DeleteCallBackInterface(self->pCall);
   }
@@ -821,3 +970,25 @@ int SecMotorFactory(SConnection * pCon, SicsInterp * pSics, void *pData,
                     SecMotorKill, pNew);
 
 }
+
+/*--------------------------------------------------------------------------
+  everywhere we need to find a motor for a name quite frequently.......
+----------------------------------------------------------------------------*/
+pMotor FindMotor(SicsInterp * pSics, char *name)
+{
+  CommandList *pC;
+  pMotor pMot;
+
+  pC = FindCommand(pSics, name);
+  if (!pC) {
+    return NULL;
+  }
+  pMot = (pMotor) pC->pData;
+  if (!pMot) {
+    return NULL;
+  }
+  if (strcmp(pMot->pDescriptor->name, "Motor") != 0 ) {
+    return NULL;
+  }
+  return pMot;
+}