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

task.h

@@ -6,7 +6,10 @@
   a yield and a primitive form of inter task communication is implemented.
   
   Mark Koennecke, September 1997
-  
+
+  extended to suuport task groups
+  Mark Koennecke, December 2012
+    
   copyright: see implementation file
 -----------------------------------------------------------------------------*/
 #ifndef TASKOMAT
@@ -78,6 +81,23 @@ long TaskRegister(pTaskMan self, TaskFunc pTaskRun,
      On Success a positive value denoting the ID of the task is returned.
      On error a negative value is returned.
    */
+/*--------------------------------------------------------------------------*/
+long TaskRegisterN(pTaskMan self, char *name, TaskFunc pTaskRun,
+                  SignalFunc pSignalFunc,
+                  TaskKillFunc pKillFunc, void *pData, int iPriority);
+  /*
+     This call enter a new task into the system. The caller has to
+     specify:
+     a TaskFunction   [Required]
+     a SignalFunction [Optional, can be NULL]
+     a KillFunction for task private data.
+     [Optional, can be NULL]
+     a pointer to task  private data     
+     [Optional, can be NULL]
+     a priority for this task. This is currently unused.                  
+     On Success a positive value denoting the ID of the task is returned.
+     On error a negative value is returned.
+   */
 /*-------------------------------------------------------------------------*/
 int TaskSchedule(pTaskMan self);
   /*
@@ -117,5 +137,101 @@ int TaskSignal(pTaskMan self, int iSignal, void *pSigData);
   /*
      remove the task with the given task function and the given data pointer
   */
-    
+/*-------------------------------------------------------------------------*/
+  int StopTask(pTaskMan self, char *name);
+/*
+  stop the task with the given name. Returns 0 on failure, 1 on success
+*/
+/*--------------------------------------------------------------------------*/
+  int isTaskRunning(pTaskMan self, char *name);
+/*
+  returns 1 when task name is running, 0 else
+*/
+/*--------------------------------------------------------------------------*/
+  int isTaskIDRunning(pTaskMan self, long lID);
+/*
+  returns 1 when task name is running, 0 else
+*/
+/*===========================================================================
+Iterating the task list. This works like:
+
+pTaskHead it;
+char *des;
+
+for(it = TaskIteratorStart(self); it != NULL; it = TaskIteratorNext(it)){
+   des = TaskDescription(it);
+} 
+
+There are two limitations of the implementation here:
+
+- Never, ever delete the Iterator it
+- Do your iteration in one go or abandon it mid iteration. If another task 
+  gets in between and registers new tasks or removes one, then  the whole 
+  iterator may be messed up.
+=============================================================================*/
+
+pTaskHead TaskIteratorStart(pTaskMan self);
+/*
+ starts iterating on the TaskList. Do NOT delete the returned pointer!
+*/
+pTaskHead TaskIteratorNext(pTaskHead it);
+/*
+  Steps to the next element in the task list. Returns NULL when node.
+  Do NOT delete the returned pointer!
+*/
+
+char *TaskDescription(pTaskHead it);
+/*
+  get a description of the task at the current iterator
+  You are responsible for deleting the returned character array.
+*/
+long GetTaskID(pTaskHead it);
+/*
+  get the ID of the current task
+*/
+long GetGroupID(pTaskHead it);
+/*
+  get the group ID of the current task
+*/
+const char *GetTaskName(pTaskHead it);
+/*
+  get the name of the current task. Do not delete the returned pointer.
+*/
+const void *GetTaskData(pTaskHead it);
+/*
+  Get the user data for the current task. Do not free the returned pointer!
+*/
+/*=============================================================================
+   Task Groups. The implementation has the limit that any given task can 
+   only be member of one task group
+   ===============================================================================*/
+long GetTaskGroupID(pTaskMan self);
+/*
+  get the ID for a task group
+*/
+void AddTaskToGroup(pTaskMan self, long taskID, long groupID);
+/*
+  Add taskID to the task group groupID
+*/
+int isTaskGroupRunning(pTaskMan self, long groupID); 
+/*
+  Returns 1 when the task group is still running, 0 else
+*/
+
+typedef struct{
+  pTaskMan tasker;
+  long groupID;
+} TaskGroupData, *pTaskGroupData;
+
+int TaskGroupTask(void *data);
+/*
+ This is a task function which implements the common task of waiting 
+ for a group of tasks to finish. It expects as data a TaskGroupData
+ structure.
+*/
+/*--------------------------------------------------------------------------*/
+int TaskSignalGroup(pTaskMan self, int iSignal, void *pSigData, long groupID);
+/*
+  signal only tasks in the group groupID
+*/ 
 #endif