- Fixed a bug at the new counter driver

SKIPPED:
	psi/el737hpdriv.c
	psi/el737hpv2driv.c
	psi/make_gen
	psi/psi.c
	psi/tas.c
	psi/tasdrive.c
	psi/tasinit.c
	psi/tasscan.c
	psi/tasutil.c

counter.c

@@ -11,7 +11,7 @@
     Copyright:
 
     Labor fuer Neutronenstreuung
-    Paul Scherrer Institut
+    Paul Scherrer Institut 
     CH-5423 Villigen-PSI
 
 
@@ -473,6 +473,7 @@
      SetStatus(eOld);
      return iRet;
   }  
+/*-----------------------------------------------------------------------*/
   
 /*-------------------------------------------------------------------------*/
 
@@ -717,7 +718,7 @@
                                       {"setexponent",1,{FUPAINT,0}},
                                       {"getexponent",0,{0,0}},
                                       {"interest",0,{0,0}},
-                                      {"uninterest",0,{0,0}},
+                                      {"uninterest",0,{0,0}}, 
                                       {"status",0,{0,0}},
                                       {"gettime",0,{0,0}},
                                       {"countnb",1,{FUPAFLOAT} },

doc/master.tex

@@ -191,13 +191,8 @@ This document also explains how to get hold the source code for most
 \subsubsection{Backup}
 The laboratory server is also the central backup server for SINQ. Backups are
  performed with the Legato networker software onto a tape jukebox holding
- 5 tapes with 20GB capacity each. The following items are backed up through 
+ 5 tapes with 20GB capacity each. Currently only the /home (holding
- this system:
+ user home directories) and the /lnsarchive hierarchy are backed up.   
-\begin{itemize}
-\item The laboratory server.
-\item The instrument accounts on the instrument computers. 
-\item The lnsdata and lnslib shares of the lns00 Windows--NT server.
-\end{itemize}
 This backup system is a protection against a major harddisk failure. It is no
  archive system. Though backup tapes are held as long as possible it 
  cannot be guaranteed that files older then half a year can be recovered. 
@@ -205,6 +200,38 @@ This backup system is a protection against a major harddisk failure. It is no
  system. No further documentation exists, but the setup can be viewed 
  through the nwadmin application. 
 
+The instrument accounts on the instrument computers must be backed up
+as well because they sometimes contain valuable scripts. Unfortunately
+there are not enough Networker licenses to go round and there is no
+reliable linux client software for our version of Legato Networker.
+Therefore the data in the instrument accounts is copied nightly to a
+special account on lnsa15 which is subjected to the normal
+backup. More details:
+\begin{itemize}
+\item There is a script which does the copying. It is {\bf backupinst}
+in either /data/lnslib/bin or
+/afs/.psi.ch/project/sinq/linux/bin. This script is called with {\bf
+backupinst INST} where INST must be replaced by the instrument name in
+capitals.  This script essentially calls rsync with appropriate
+arguments to synchronize the instrument account minus the data
+directory (which is automatically copied anyway). 
+\item backupinst is triggered by a cron job. For this to work each
+instrument computer must have an entry in crontab reading like:
+\begin{verbatim}
+	0 3 * * * /data/lnslib/bin/backupinst TOPSI >/tmp/topsi.log 2>&1 
+\end{verbatim}
+Please replace paths and instrument names to match the instrument. 
+\item The backup account on lnsa15 is named SINQINST, password:
+333SINQINST555. It contains a directory for each supported
+instruments. For backupinst to work properly there must be a line in
+the .rhosts file of this account for each instrument computer which
+reads:
+\begin{verbatim}
+	instcomputer.psi.ch root
+\end{verbatim} Please note that this has to be the pcXXXX name for
+linux instrument computers, not the DNS alias.
+\end{itemize}  
+
 
 \subsubsection{Motor Parameter Backup}
 At SINQ the PSI EL--734 motor controllers are used. These motor controllers 

doc/programmer/command.tex

@@ -1,7 +1,7 @@
 \chapter{Writing new SICS Commands}
 If you wish to write a new command or add a completely new piece of hardware to
 SICS, this is the chapter to study. There are two ways to implement
-new commands into SICS: hrough the internal Tcl scripting language and
+new commands into SICS: through the internal Tcl scripting language and
 in ANSI--C. This section describes command writing in ANSI--C. You
 should consider using Tcl when: 
 \begin{itemize}
@@ -264,12 +264,12 @@ function has to be overloaded to return this interface on demand.
 
 A default object descriptor can be created with:
 \begin{verbatim}
- pObjectDescriptor CreateDescriptor(type);
+    pObjectDescriptor CreateDescriptor(type);
 \end{verbatim}
 with type being the object type identifier. A descriptor can be
 deleted with:
 \begin{verbatim}
-	DeleteDescriptor(pDes);
+   DeleteDescriptor(pDes);
 \end{verbatim}
 
 
@@ -328,12 +328,12 @@ command in the first place.
 Be careful with commands for deleting objects though. SICS objects may
 be aliased, used by other objects or connected through the callback
 interface (see \ref{inter}).  SICS does not implement proper
-bookeeping on all these relationships and thus deleting a command from
+bookkeeping on all these relationships and thus deleting a command from
 SICS without taking this into account may cause SICS to dump core on
 you. 
 
 
-\section{Interacting with the Client Connection}
+\section{Interacting with the Client Connection}\label{gow}
 A SICS command writer needs to interact with the client connection for
 a variety of reasons:
 \begin{itemize}
@@ -349,7 +349,7 @@ has to be passed frequently into lower level code as an argument.
 \subsection{Writing and Reading to the Client}
 All I/O to the client has to be processed through the I/O functions
 for connections defined in conman.h and implemented in conman.c. The
-most bable of these are SCWrite and SCPrompt.  
+most common of these are SCWrite and SCPrompt.  
 These function will now be inspected in more detail:
 \begin{verbatim}
   int SCWrite(SConnection *pCon, char *pText, int eCode);
@@ -370,7 +370,7 @@ SCWrite does with the message:
 code specified.
 \item The message is written to all log files configured for the client
 connection.
-\item If the client privilege is useer or manager, the data isw ritten
+\item If the client privilege is user or manager, the data is written
 to the command log. 
 \item The message is written to the server log together with the socket
 number of the connection.
@@ -438,7 +438,7 @@ On occasion a SICS object may come to the conclusion that an error is
 so bad that the measurement needs to be stopped. Clearly a means is
 needed to communicate this to upper level code. This means is setting
 an interrupt on the connection. 
-The current interrupt active interrupt is located at the connection object
+The current active interrupt is located at the connection object
 and can be retrieved with {\bf SCGetInterrupt} and set with {\bf
 SCSetInterrupt}. Interrupt codes are defined in interrupt.h and are ordered
 into a hierarchy:
@@ -511,7 +511,7 @@ StartMotor starts the motor name to run to the new value
 fNew. StartCounter starts the counter name. The counter must have been
 loaded with proper presets etc. with the appropriate function
 calls. The device executor hides behind the pExeList pointer. This is
-always accessible through the global pointer: pServ->pExecutor.
+always accessible through the global pointer: \verb+pServ->pExecutor+.
 
 Once a counter or motor has been started, quite often the command can
 only continue if the operation has finished. But during this time the
@@ -569,7 +569,7 @@ process. And she might not be all to happy if the new command just
 continues with the next step rather then aborting the process.
 
 
-\section{SICS Interfaces}\label{interface}
+\section{SICS Interfaces}\label{interface}\label{inter}
 The point about SICS interfaces can best be deduced from an example:
 Everybody expects that a motor can be operated through a drive command
 or scanned in a scan. But there are other things which should be
@@ -605,7 +605,7 @@ considered:
 \item The driveable interface should be implemented by virtual
 motors. Virtual motors are objects which realize complex movements
 possibly involving multiple motors. Examples include driving
-wavelength (theta,two theta and possbly curvature motors have to be
+wavelength (theta,two theta and possibly curvature motors have to be
 moved) or omega two theta. 
 \item Any time objects are introduced into SICS which repesent
 completely new hardware.

doc/programmer/kernelguide.tex

@@ -34,11 +34,12 @@ SICS sense is defined by a function, the task function. It is of the type:
       int TaskFunction(void *pData);
 \end{verbatim}
 When it is time for the task to execute this function is called, with a
-parameter to a the tasks own data structure. This data structure must have
+pointer to  the tasks own data structure as a parameter.  This data
-been defined by the user of this module. The task function returns 1, if it
+structure must have been defined by the user of this module. The task
-shall continue to live, or 0 if it should be deleted from the task list.
+function returns 1, if it shall continue to live, or 0 if it should be
-These task functions are kept in a list. The elements of this list are
+deleted from the task list. These task functions are kept in a
-visited cyclically, when the scheduler runs.
+list. The elements of this list are visited cyclically, when the
+scheduler runs.
 
 The API to this object consists of functions for creating a task manager,
 adding tasks to the task list and to run the task list. Other functions
@@ -102,7 +103,7 @@ SICS should be changed. For instance to Token--Ring or AppleTalk or
 whatever.
 The network reader implements the polling for network message in the SICS
 server. It is organized as one of the SICS system tasks. Polling in a POSIX
-environment is all about the select system call. The select system call
+environment is all about the select() system call. The select() system call
 allows to enquire if an open TCP/IP socket has data pending to be read, can
 be written to etc. For more details see the unix man pages for the select
 system call. An earlier version of the SICS server had a list of connection
@@ -135,13 +136,15 @@ the system and the network reader registers a new client command port.
 
 The normal client command ports are accepted connections from a client. The
 SICS server expects commands to be sent from the clients. Thus any data
-pending on such a socket will be read, split into single commands at the \\n
+pending on such a socket will be read and split into single commands at
-and put into the connections command stack for execution. At this place
+the newline character. Now the network reader checks if the command
-there is also the check for the special interrupt string on command
+represents an interrupt(see \ref{prot1}) and if so process the interrupt
-connections (see \ref{prot1}).
+immediately. If not then command is   put into the connections command
+stack for execution. 
 
-The SICS server accepts only interrupts on its UDP port. This will be checked
+The SICS server accepts interrupts also on its UDP port. This will be checked
-for when handling data pending on the servers UDP port.
+for when handling data pending on the servers UDP port. This feauture
+is implemented but not well tested and not used in the moment. 
 
 User type sockets are a feature for dealing with extremely slow hardware
 connections. Some hardware devices require a long time to answer requests.
@@ -287,14 +290,15 @@ For the SICS concept for handling sample environment devices see
 \section{The Server}
 The server module defines a  server data structure. A pointer to this
 data structure is the sole global variable in the SICS system. Its name is
-{\bf {\huge pServ}}. This data structure contains pointers to the most
+{\bf pServ}. This data structure contains pointers to the most
 important SICS components: the interpreter, the task switcher, the device
 executor, the environment monitor and the network reader.  This module also
 contains the code for initializing, running and stopping the server. 
  
 
 \section{The Performance Monitor}
-This facility provides the data for the Performance (see user documentation) 
+This facility provides the data for the ``Performance'' 
+ (see user documentation) 
 command. The Performance Monitor is a task which increments a counter each
 time it is executed. After a predefined integration time (20 seconds)  a new
 value cycles/per second is calculated. This is the data retrievable by the
@@ -307,7 +311,7 @@ monitor may well be removed from the system without harm.
 \section{The Object Factory}
 During SICS initialization the SICS interpreters command list needs to be
 initialized. This is the task of the object factory. Its function
-IniIniCommand initializes all fixed, general SICS commands and all object
+InitIniCommands initializes all fixed, general SICS commands and all object
 creation commands. Then the server initialization file is processed from the
 server initialization code. After this is done, the server initialization
 code calls KillIniCommands which removes the now surplus object creation
@@ -387,3 +391,9 @@ the status file has to implement a function which will
 automatically be called when a status file is written. For details,
 consult the chapter on SICS object implementation. 
 
+
+
+
+
+
+

doc/programmer/overview.tex

@@ -14,7 +14,8 @@ System, had to meet the following specifications:
 \item Enhanced portability across instrument hardware. This means that it
 should be easy to add other types of motors, counters or other hardware to
 the system. 
-\item Support authorization on the command and variable level. This means
+\item Support authorization on the command and parameter modification
+level. This means
 that certain instrument settings can be protected against random changes by
 less knowledgable users.
 \item Good maintainability and extendability.  
@@ -78,7 +79,7 @@ This is a real concern at SINQ where VMS,
 Intel-PC, Macintosh and Unix users have to be satisfied.   
 As many instrument scientists still prefer
 the command line for interacting with instruments, the most used client is a
-visual command line client. Status displays are another sort of specialized 
+visual command line client. Status displays are another kind  of specialized 
 client programs. Graphical user interfaces are under consideration for some
 instruments. As an example for a client a screen shot of the status display
 client for a powder diffractometer is given in picture \ref{dmc}
@@ -86,7 +87,7 @@ client for a powder diffractometer is given in picture \ref{dmc}
  \begin{figure}
 %%  \epsfxsize=0.65\textwidth
   \epsfxsize=160mm
-%%  \epsffile{dmc.eps}
+\epsffile{dmccom.eps}
  \caption{Example for a SICS client: Powder Diffractometer Status Display}\label{dmc}
  \end{figure}
   
@@ -129,10 +130,10 @@ In more detail the SICS server kernel has the following tasks:
 \item Monitor HW--operations.
 \item Monitor environment devices. 
 \end{itemize}
-Any server serving multiple clients has the problem how to organize multiple
+Any program serving multiple clients has the problem how to organize multiple
-clients accessing the same server and how to stop one client reading data,
+clients accessing the same server and how to prevent one client from
-which another client is just writing. The approach used for the SICS server
+reading data,  while another client is writing. The approach used for
-is a combination of polling and cooperative multitasking. This scheme is
+the SICS server is a combination of polling and cooperative multitasking. This scheme is
 simple and can be implemented in an operating system independent manner. One
 way to look at the SICS server is as a series of tasks in a circular queue
 executing one after another. The servers main loop does nothing but
@@ -151,8 +152,7 @@ client connection and create the associated data structures. If the port
 belongs to an open client connection the network reader will read the
 command pending and put it onto a command stack existing for each client
 connection.  When it is time for a client task to execute, it will fetch a
-command from its very own command stack and execute it. When the net reader
+command from its very own command stack and execute it.  
-finds an user interrupt pending, the interrupt is executed. 
 This is how the SICS server deals with client requests.
 
 The scheme described above relies on the fact that most SICS command need
@@ -181,7 +181,7 @@ an hardware request all other clients requests to drive the hardware will
 return an error. The device executor is also responsible for monitoring the
 progress of an hardware operation. It does so by adding a special task into
 the system which checks the status of the operation each time this tasks
-executes.  When the hardware operation is finished (one way or another) this
+executes.  When the hardware operation is finished this
 device executor task will end.  A special system facility allows a client
 task to wait for the device executor task to end while the rest of the task
 queue is still executing. In this way time intensive hardware operations can
@@ -258,7 +258,7 @@ can be configured to tell SICS clients or other SICS objects about his new
 position. 
 
 SICS uses NeXus$^{2}$, the upcoming standard for data exchange for neutron
-and x\_ray scattering as its raw data format.
+and x--ray scattering as its raw data format.
 
 
 \section{SICS Working Examples}
@@ -279,10 +279,10 @@ done by a special system component, the task switcher.
 \subsection{The Request for a new Client Connection}
 \begin{itemize}
 \item The network reader recognizes pending data on its main server port.
-\item The network reader accepts the connection and tries to read a
+\item The network reader accepts the connection and tries to read an
 username/password pair.
-\item If such a username/password pair comes within a suitable time
+\item If such an username/password pair comes within a suitable time
-intervals it is checked for validity. On failure the connection is closed
+interval it is checked for validity. On failure the connection is closed
 again.
 \item If a valid connection has been found: A new connection object is
 created, a new task for this client connection is introduced into the
@@ -312,7 +312,7 @@ task to the task switcher.
 \item The next task executes.
 \end{itemize}
 
-\subsection{A Drive Command in Blocking Mode}
+\subsection{A ``Drive'' Command in Blocking Mode}
 \begin{itemize}
 \item The network reader finds data pending at one of the client ports.
 \item The network reader reads the command, splits it into single lines and
@@ -342,8 +342,8 @@ requesting the wait state. The client connection and task executing the drive co
 \item The device executor task will keep on monitoring the progress of the motor
 driving whenever the task switcher  allows it to execute.
 \item In due time the device executor task will find that the motor finished
-driving. The task will then die. The clients grab of the hardware driving
+driving. The task will then finish executing. The clients grab of the
-permission will be released.
+hardware driving permission will be released.
 \item At this stage the drive command wrapper function will awake and
 continue execution. This means inspecting errors and reporting to the client
 how things worked out.
@@ -353,7 +353,7 @@ other commands.
 \item The next task executes.
 \end{itemize}
 
-\subsection{A Drive Command Interrupted}
+\subsection{A ``Drive Command Interrupted}
 \begin{itemize}
 \item The network reader finds data pending at one of the client ports.
 \item The network reader reads the command, splits it into single lines and
@@ -396,7 +396,7 @@ task to the task switcher.
 \item The next task executes.
 \end{itemize}
 
-\subsection{A Run Command in Non Blocking Mode}
+\subsection{A ``Run'' Command in Non Blocking Mode}
 \begin{itemize}
 \item The network reader finds data pending at one of the client ports.
 \item The network reader reads the command, splits it into single lines and
@@ -408,13 +408,13 @@ itself to the SICS interpreter.
 \item The SICS interpreter inspects the first word of the command. Using
 this key the interpreter finds the drive command wrapper function and passes
 control to that function. 
-\item The run command wrapper function will check further arguments, 
+\item The ``run'' command wrapper function will check further arguments, 
 checks the
 clients authorisation if appropriate for the action requested. Depending on
 the checks, the wrapper function will create an error message or do its
 work.
 \item Assuming everything is OK, the motor is located in the system.
-\item The drive command wrapper function asks the device executor to run the
+\item The ``run'' command wrapper function asks the device executor to run the
 motor.
 \item The device executor verifies that nobody else is driving, then starts
 the motor and grabs hardware control. The device executor also starts a task
@@ -432,10 +432,11 @@ permission will be released.  Any errors however, will be reported.
 All this seems to be pretty complex and time consuming. But it is the complexity needed to 
 do so many things, especially the non blocking mode of operation requested
 by users. Tests have shown that the task switcher manages +900 cycles
-per second through the task list on a DigitalUnix machine and 50
+per second through the task list on a DigitalUnix machine and 500
-cycles per second on a pentium 133mhz machine running linux. Both data
+cycles per second on a pentium 2GHZ machine running linux. Both data
 were obtained with software simulation of  hardware devices. With real
-SINQ hardware these numbers drop 4 cycles per second. This shows
+SINQ hardware these numbers drop to as low as 4 cycles per second if
+the hardware is slow in responding. This shows
 clearly that the communication with the hardware is the systems
 bottleneck and not the task switching scheme.
 

doc/programmer/programmer.tex

@@ -14,6 +14,8 @@
 \setlength{\textheight}{8.9in}
 \setlength{\textwidth}{6.2in}
 \setlength{\marginparwidth}{0.5in}
+\setlength{\parindent}{0cm}
+\setlength{\parskip}{.2cm}
 
 \begin{document}
 \title{The SICS Programmers Reference}

doc/programmer/proto.tex

@@ -9,20 +9,20 @@ The SICS server implements the most primitive telnet server possible
 and does not support any of the fancy options possible with
 telnet. Using the telnet protocoll involves:
 \begin{itemize}
-\item Open a scoket conenction to SICS telnet port
+\item Open a socket connection to SICS's telnet port
 \item Send a login word followed by a username and a password. The
 login word is set in SICS initialization file as the SicsOption
 TelWord.
 \item On success a welcome message is printed, otherwise SICS
 terminates the connection.
 \item Now commands can be sent, but watch for the telnet protocoll
-specification in RFC-?????. 
+specification in the telnet RFC. 
 \end{itemize}    
 
 \section{Connection using a plain Connection}
 This protocoll involves:
 \begin{itemize}
-\item Open a scoket conenction to SICS telnet port
+\item Open a socket connection to SICS's plain port
 \item Send a username and a password.
 \item On success OK  is printed, otherwise SICS
 terminates the connection.
@@ -59,3 +59,5 @@ resolved in file interrupt.h.
 
 
 
+
+

doc/programmer/sicsdriver.tex

@@ -29,6 +29,23 @@ All drivers use a common pattern for error handling. Please read the
 section on the motor driver where this pattern is explained in more
 detail. The same pattern is applied in most drivers.
 
+Please be aware that the hardware drivers have a significant impact on
+SICS's overall performance. Most of the time SICS will be sitting
+there and wait for a counter or a motor to finish. And often the
+devices controlling such things respond pretty slow. The most often
+called function is the status check function of the driver. It is
+advisable to optimize this is good as possible. Suggestions for this
+include:
+\begin{itemize}
+\item Reduce the amount of data to be read from the controller as much
+as possible. 
+\item Make the status function a state machine: in the first state a
+status request command is sent and the second state is entered. In teh
+second state, the function checks if data is available on the
+communication port and process if this is so, else it returns the
+appropriate busy code.  
+\end{itemize}   
+
 This section describes the actual drivers. How these drivers are
 integrated into SICS is described in the chapter on the site data
 structure (see \ref{site}).
@@ -85,13 +102,16 @@ values are supposed to be identical to the positions of the limit
 switches on the real thing. Read them from the motor or initialize
 them from parameters when initializing the motor driver.
 \item[GetPosition] reads the position of the motor and puts the result
-into fPos. This ought to be the position from the motor
+into fPos. This ought to be the position from the motor 
-controller. Software zeros are applied later by code in motor.c.
+controller. Software zeros are applied later by code in
+motor.c. GetPosition returns either OKOK when the request succeeded
+or HWFault on failure. 
 \item[RunTo] Starts the motor to run towards the new position
 fNewVal. fNewVal must be a value valid for the controller. Software
 zero points have already been taken account of by code in
 motor.c. This function shall NOT wait for the completion of the
-driving operation. 
+driving operation. RunTo returns either OKOK when the request succeeded
+or HWFault on failure.
 \item[GetStatus] This function is called repeatedly by upper level
 code to poll for the progress of the driving operation. Possible
 return values of this function are:
@@ -135,7 +155,7 @@ upper level code in motor.c: If an error in any function occurs,
 GetError gets called. An error message is printed. Then TryAndFixIt is
 called with the error code returned in iCode as a parameter. If 
 TryAndFixIt returns  MOTFAIL, the code gives up. If TryAndFixIt
-returns MOTREDO, the failed operation is retried. At max retries are
+returns MOTREDO, the failed operation is retried. At max 3 retries are
 performed. If the operation does not succeed after three
 retries, a motor failure is reported. 
 
@@ -149,7 +169,7 @@ no such parameters have these functions do nothing and return 1.
 \section{The Counter Driver}
 A counter driver is a driver for some box which allows to count for a
 preset time or monitor and manages single counters and monitors. Such
-a driver is reprsented by a data structure:
+a driver is represented by a data structure:
 \begin{verbatim}
   typedef struct __COUNTER {
                  /* variables */
@@ -216,13 +236,13 @@ cached in lCounts.
 paused.
 \item[iErrorCode] A private variable holding error codes. 
 \item[GetStatus] This function is called while upper
-elvel code polls for the counter to finish. It has to return the
+level code polls for the counter to finish. It has to return the
 status of the counting operation and update the current value of the
 control variable in fControl. Possible return values are:
 \begin{description}
 \item[HWBusy] when counting.
 \item[HWIdle] when finished counting or idle.
-\item[HWNoBeam] when counting is interrupted due to lack of beam.
+\item[HWNoBeam] when counting is halted due to lack of beam.
 \item[HWPause] if counting is paused.
 \item[HWFault] if the status cannot be obtained.  
 \end{description}      
@@ -233,11 +253,11 @@ previously confugured. Do NOT wait for counting to finish!
 \item[Halt] stop counting. 
 \item[ReadValues] read all counters and monitors into lCounts. 
 \item[GetError] retrieves information about an error which occurred on
-the counter. An integer error code is returned in iCode. Up to iBufLen
+the counter. An integer error code is returned in iCode. Up to iErrLen
 characters of descriptive error information is copied into
-buffer. This information is printed as error message by upper level
+error. This information is printed as error message by upper level
 code. 
-\item[TryAndFixIt] Given an error code in iError, try to repair the
+\item[TryAndFixIt] Given an error code in iCode, try to repair the
 problem as  far as this is possible in software. iError should be an
 error code as returned by GetError in iCode. This function has the
 following return codes:
@@ -248,8 +268,8 @@ following return codes:
 \item[Set] set parameter name associated with counter iCter to fVal.
 \item[Get] return in fVal the value of parameter name associated with
 iCter. These two functions allow to set counter driver parameters.
-\item[Send] send pText to the counter controller and return iReplylen
+\item[Send] send pText to the counter controller and return iReplyLen
-characters of repsonse from the counter controller in pReply. This is
+characters of response from the counter controller in pReply. This is
 a bypass to set controller parameters manually. 
 \item[KillPrivate] properly delete counter driver private data
 pData. Also close any connections to the hardware.   
@@ -295,9 +315,9 @@ is replaced by a standard one based on GetValue if not present.
 at max iReplBuflen bytes of result in pReplyBuffer. This is breakout
 which allows to send arbitray data to the controller. 
 \item[GetError] retrieves information about an error which occurred on
-the device. An integer error code is returned in iCode. Up to iBufLen
+the device. An integer error code is returned in iCode. Up to iErrLen
 characters of descriptive error information is copied into
-buffer. This information is printed as error message by upper level
+pError. This information is printed as error message by upper level
 code. 
 \item[TryAndFixIt] Given an error code in iError, try to repair the
 problem as  far as this is possible in software. iError should be an
@@ -308,7 +328,7 @@ following return codes:
 \item[DEVFAULT] The problem cannot be fixed in software.
 \end{description}  
 \item[Init] initializes a connection to a controller and puts the
-thing into the right mode (or mood?). 
+thing into the right mode. 
 \item[Close] closes a connection to a controller.
 \item[pPrivate] A pointer to a driver specific data structure which
 can be filled with meaning by instances of drivers.
@@ -317,7 +337,7 @@ with  pPrivate.
 \end{description}
 
 
-\section{Histogram Memory}
+\section{Histogram Memory Drivers}
 Histogram memories are devices in which neutron events for area
 detector or time--of--flight detectors are assigned to their correct
 bins. Then these usually large data sets have to be transferred to
@@ -392,7 +412,7 @@ structure given below:
                                } HistDriver;
 \end{verbatim}
 All functions take a pointer to their driver data structure as an
-argument. If not stated otherwise they retun 1 on success, 0 on failure.
+argument. If not stated otherwise they return 1 on success, 0 on failure.
 \begin{description}
 \item[data] Is a pointer to an HMdata object which does all the
 dimension handling, buffers histogram memory content, deals with time
@@ -423,8 +443,8 @@ operation. Possible return values to this call are:
 \end{itemize}
 \item[GetError] will be called whenever an error has been detected on
 the device. The task is to put an internal error code into the iCode
-parameter. The string parameter error will be filled with a text description
+parameter. The string parameter perror will be filled with a text description
-of the error. But maximum iLen characters will be transferred to the error
+of the error. But maximum iErrlen characters will be transferred to the error
 string in order to protect against memory corruption. Therefore iLen must be
 the maximum field length of error. 
 \item[TryAndFixIt] is the next function called in case of an error on
@@ -435,20 +455,20 @@ TryAndFixIt returns one of the following values:
 \begin{itemize}
 \item COREDO when the error could be fixed, but the upper level code will
 need to rerun the command which failed.
-\item COFAIL when the software is unable to fix the problem and a real
+\item COTERM when the software is unable to fix the problem and a real
 mechanic  with a hammer is needed (or somebody able to reboot!).
 \item MOTOK when the error was fixed and nor further action is necessary.
 \end{itemize}
 \item[GetData] transfers all the data collected in the HM into the
 host computers memory buffer.  
-\item[GetHistogram] copies data betwen iStart and iend from histogram
+\item[GetHistogram] copies data between iStart and iEnd from histogram
 bank i into the data space pData. Please make sure that pData is big
 enough to hold the data. 
-\item[SetHistogram] presets the histogram bank i i with the data 
+\item[SetHistogram] presets the histogram bank i with the data 
 given in lData. A conversion from different binwidth
 to long is performed as well. iStart and iStop define the start and end of
 the stretch of histogram to replace.
-\item[GetMonitor] returns the counts in the monitor i. Returns a
+\item[GetMonitor] returns the counts in the monitor i. GetMonitor returns a
 negative value on error. The error will have been printed to pCon.
 \item[GetTime] returns the actual counting time.
 \item[Preset] initializes the histogram memory to the value given by
@@ -496,7 +516,7 @@ described below. The velocity selector driver data structure includes:
                                 }VelSelDriv;   
 \end{verbatim}
 All functions take a pointer to their driver data structure as an
-argument. If not stated otherwise they retun 1 on success, 0 on failure.
+argument. If not stated otherwise they return 1 on success, 0 on failure.
 The fields:
 \begin{description}
 \item[pPrivate] a pointer to a driver private data structure.
@@ -524,7 +544,7 @@ NOT wait until finished.
 operation. It returns:
 \begin{description}
 \item[VSACCEL] when the velocity selector is accelerating.
-\item[VSFAIL] is the status cannot be read.
+\item[VSFAIL] if the status cannot be read.
 \item[VSOK] when the velocity seelctor has reached its target speed.
 \end{description}
 The current rotation speed is returned in *fCur. iCall is  a value
@@ -537,15 +557,15 @@ to be started first.
 \end{description}
 \item[GetDriverText] returns iTextLen bytes of additional status
 information in pText. This is a list name: value pairs separated by
-komma. This is meant to hold additional selector readouts such as
+commata. This is meant to hold additional selector readouts such as
 vacuum states, temperatures etc. 
 \item[GetLossCurrent] initiates a measurement of the loss current of
-the velocity seelctor. The result is returned in *fLoss.  
+the velocity selector. The result is returned in *fLoss.  
 \item[Init] initiates a connection to a velocity selector. 
 \end{description}
 
 It may be possible that this driver is not very general. It was
-developed for Dornier velocity seelctors because these were the only
+developed for Dornier velocity selectors because these were the only
 one seen. 
 
 \section{General Controller Driver}
@@ -583,7 +603,7 @@ restricted to this usage.  The driver:
                              }Codri;
 \end{verbatim}
 All functions take a pointer to their driver data structure as an
-argument. If not stated otherwise they retun 1 on success, 0 on failure.
+argument. If not stated otherwise they return 1 on success, 0 on failure.
 The fields:
 \begin{description}
 \item[Init] initializes a connection to the controller and the driver.

doc/programmer/site.tex

@@ -82,16 +82,16 @@ Configure in the histogram memory driver.
 \end{itemize} 
 On success a pointer to
 new driver is returned, on failure NULL.
-\item[CreateVelSelDriv] creates a driver for a velocity selector. The
+\item[CreateVelolcitySelector] creates a driver for a velocity selector. The
 driver is identified by nname, array is the name of a Tcl array in
 pTcl  holding initialization parameters for name.
-\item[MakeController] generates a driver for a SICS general controller
+\item[CreateControllerDriver] generates a driver for a SICS general controller
 object. \verb+argv[0]+ is the driver identifier, the rest of argc,
 \verb+argv[]+ are further initialization parameters. Any errors in
 parsing argc, argv can be reported to pCon. On success a pointer to
 new driver is returned, on failure NULL. 
 \item[InstallEnvironmentController] installs a sample environment
-controller into pSics. \verb+argv[3]+ is the driver indentifier,
+controller into pSics. \verb+argv[3]+ is the driver identifier,
 \verb+argv[2]+ is the SICS name of the environment device command, the
 rest are initialization parameters.  This function must also install
 the command into pSics with AddCommand. This is because for many PSI
@@ -103,8 +103,8 @@ controller is returned, on failure NULL.
 to the value of option. Returns 1 on success and 0 on failure. SICS
 general scan object is a data structure holding function pointers for
 various steps in the scan. These functions can be overloaded in order
-to provide for special scans. See the documentation ins scan.tex,
+to provide for special scans. See the documentation in scan.tex,
-scan.h and scan.c from more details.   
+scan.h and scan.c for more details.   
 \end{description}
 
 
@@ -115,8 +115,8 @@ controller object.
 
 
 The site data structure suffers a little from inconsistencies
-introduced through varying concepts for initializing SICS objects introduced
+introduced through varying concepts for initializing SICS objects implemented 
-during the development of SICS.  If you need to bypass the schemes
+in various stage of the development of SICS.  If you need to bypass the schemes
 introduced here, consider implementing an own factory command and
 install it through AddSiteCommand, RemoveSiteCommand.
 

evcontroller.c

@@ -1143,6 +1143,114 @@
       }
       return 0; /* not reached */
    }                            
+/*-----------------------------------------------------------------------*/
+static pEVControl InstallCommonControllers(SicsInterp *pSics, 
+					   SConnection *pCon,
+					   int argc, char *argv[])
+{
+  pEVControl pNew = NULL;
+  pEVDriver  pDriv = NULL;
+  char pBueffel[512],pError[132];
+  int iRet;
+  int (*Wrapper)(SConnection *pCon, SicsInterp *pSics, void *pData,
+		 int argc, char *argv[]) = EVControlWrapper;
+
+  if(strcmp(argv[3],"sim") ==  0) /* SIM driver */
+  {
+    /* Create a Sim Driver */
+    pDriv = CreateSIMEVDriver(argc-4,&argv[4]);
+    if(!pDriv)
+    {
+      SCWrite(pCon,
+	      "ERROR: failed to create Environment Device driver",
+	      eError);
+             return NULL;
+    }
+  }
+  else if(strcmp(argv[3],"tcl") == 0) /* Tcl driver */
+  {
+     /* Create a Tcl driver */
+     pDriv = CreateTclDriver(argc-4,&argv[4],argv[2], pCon);
+     if(!pDriv)
+     {
+        SCWrite(pCon,"ERROR: failed to create TCL device driver",eError);
+        return NULL;
+      }
+      /* got a driver, initialise everything */
+      pNew = CreateEVController(pDriv,argv[2],&iRet);
+      if(!pNew)
+      {
+          SCWrite(pCon,"ERROR creating Environment Controller",eError);
+          DeleteEVDriver(pDriv);
+          return NULL;
+      }
+      if(!iRet)
+      {
+         SCWrite(pCon,"ERROR: problem initialising Environment controller",
+              eError);
+          pDriv->GetError(pDriv,&iRet,pError,131);
+          sprintf(pBueffel,"HW reported: %s",pError);
+          SCWrite(pCon,pBueffel,eError);
+      }
+      Wrapper = TclEnvironmentWrapper;
+      pNew->iTcl = 1;
+      /* make ev parameters available to Tcl */
+      UpdateTclVariable(pNew->pDriv,"tolerance",
+                             ObVal(pNew->pParam,TOLERANCE));
+      UpdateTclVariable(pNew->pDriv,"upperlimit",
+                             ObVal(pNew->pParam,UPLIMIT));
+      UpdateTclVariable(pNew->pDriv,"lowerlimit",
+                             ObVal(pNew->pParam,LOWLIMIT));
+  }
+  else if(strcmp(argv[3],"gencon") == 0) /* general controller */
+  {
+    /* Create a driver */
+    pDriv = MakeControllerEnvironmentDriver(argc-4,&argv[4]);
+    if(!pDriv)
+    {
+      SCWrite(pCon,
+	      "ERROR: failed to create Controller Environment driver",
+                 eError);
+      return NULL;
+    }
+  } else {
+    return NULL; /* not recognized */
+  }
+
+
+  if(pNew == NULL) /* not yet initialized */
+  {
+    pNew = CreateEVController(pDriv,argv[2],&iRet);
+    if(!pNew)
+    {
+      SCWrite(pCon,"ERROR creating Environment Controller",eError);
+      DeleteEVDriver(pDriv);
+      return NULL;
+    }
+    if(!iRet)
+    {
+      SCWrite(pCon,"ERROR: problem initialising Environment controller",
+              eError);
+      pDriv->GetError(pDriv,&iRet,pError,131);
+      sprintf(pBueffel,"HW reported: %s",pError);
+      SCWrite(pCon,pBueffel,eError);
+    }
+  }
+
+  /* install command */
+  iRet = AddCommand(pSics,argv[2],Wrapper,
+		    DeleteEVController,
+                    pNew);
+  if(!iRet)
+  {
+    sprintf(pBueffel,"ERROR: duplicate command %s not created",
+	    argv[2]);
+    DeleteEVController((void *)pNew);
+    SCWrite(pCon,pBueffel,eError);
+    return NULL;
+  }
+  return pNew;
+}
 /*-------------------------------------------------------------------------
   EVControlFactory implements a SICS command which creates and deletes
   Controllers at run-time. Syntax:
@@ -1156,7 +1264,6 @@
                         int argc, char *argv[])
    {
       pEVControl pNew = NULL;
-      pEVDriver  pDriv = NULL;
       char pBueffel[512],pError[132];
       int iRet;
       CommandList *pCom = NULL;
@@ -1223,78 +1330,8 @@
           SCWrite(pCon,pBueffel,eError);
           return 0;        
         }
-        if(strcmp(argv[3],"sim") ==  0) /* SIM driver */
+	pNew = InstallCommonControllers(pSics,pCon,argc,argv);
-        {
+        if(pNew == NULL)
-            /* Create a Sim Driver */
-            
-            pDriv = CreateSIMEVDriver(argc-4,&argv[4]);
-            if(!pDriv)
-            {
-               SCWrite(pCon,
-		       "ERROR: failed to create Environment Device driver",
-		       eError);
-               return 0;
-            }
-        }
-        else if(strcmp(argv[3],"tcl") == 0) /* Tcl driver */
-        {
-            /* Create a driver */
-            pDriv = CreateTclDriver(argc-4,&argv[4],argv[2], pCon);
-            if(!pDriv)
-            {
-               SCWrite(pCon,"ERROR: failed to create TCL device driver",eError);
-               return 0;
-            }
-            /* got a driver, initialise everything */
-            pNew = CreateEVController(pDriv,argv[2],&iRet);
-            if(!pNew)
-            {
-               SCWrite(pCon,"ERROR creating Environment Controller",eError);
-               DeleteEVDriver(pDriv);
-               return 0;
-            }
-            if(!iRet)
-            {
-              SCWrite(pCon,"ERROR: problem initialising Environment controller",
-              eError);
-              pDriv->GetError(pDriv,&iRet,pError,131);
-              sprintf(pBueffel,"HW reported: %s",pError);
-              SCWrite(pCon,pBueffel,eError);
-            }
-            /* install command */
-            iRet = AddCommand(pSics,argv[2],TclEnvironmentWrapper,
-			      DeleteEVController,
-                   pNew);
-            if(!iRet)
-            {
-              sprintf(pBueffel,"ERROR: duplicate command %s not created",
-		      argv[2]);
-              DeleteEVController((void *)pNew);
-              SCWrite(pCon,pBueffel,eError);
-              return 0;
-            }
-            pNew->iTcl = 1;
-            /* make ev parameters available to Tcl */
-            UpdateTclVariable(pNew->pDriv,"tolerance",
-                             ObVal(pNew->pParam,TOLERANCE));
-            UpdateTclVariable(pNew->pDriv,"upperlimit",
-                             ObVal(pNew->pParam,UPLIMIT));
-            UpdateTclVariable(pNew->pDriv,"lowerlimit",
-                             ObVal(pNew->pParam,LOWLIMIT));
-        }
-        else if(strcmp(argv[3],"gencon") == 0) /* general controller */
-        {
-            /* Create a driver */
-            pDriv = MakeControllerEnvironmentDriver(argc-4,&argv[4]);
-            if(!pDriv)
-            {
-               SCWrite(pCon,
-                 "ERROR: failed to create Controller Environment driver",
-                 eError);
-               return 0;
-            }
-        }
-        else
         {
           site = getSite();
 	  if(site != NULL){

sicsstatus.tcl

@@ -1,536 +1,3 @@
-a5l.length 80.000000
-flightpathlength 0.000000
-flightpathlength setAccess 1
-flightpath 0.000000
-flightpath setAccess 1
-delay 2500.000000
-delay setAccess 1
-hm CountMode timer
-hm preset 100.000000
-hm genbin 120.000000 35.000000 512
-hm init
-datafile focus-1001848.hdf
-datafile setAccess 3
-hm2 CountMode timer
-hm2 preset 10.000000
-hm1 CountMode timer
-hm1 preset 100.000000
-dbfile UNKNOWN
-dbfile setAccess 2
-# Motor th
-th sign 1.000000
-th SoftZero 0.000000
-th SoftLowerLim -120.000000
-th SoftUpperLim 120.000000
-th Fixed -1.000000
-th InterruptMode 0.000000
-th precision 0.010000
-th AccessCode 2.000000
-th poscount 20.000000
-#Crystallographic Settings
-hkl lambda 0.703790
-hkl setub -0.124702 0.001618 -0.041357 -0.104448 -0.001326 0.049388 0.000751 0.084094 0.001574
-hkl hm 0
-det3dist 300.000000
-det3dist setAccess 1
-det3zeroy 128.000000
-det3zeroy setAccess 1
-det3zerox 128.000000
-det3zerox setAccess 1
-det2dist 300.000000
-det2dist setAccess 1
-det2zeroy 128.000000
-det2zeroy setAccess 1
-det2zerox 128.000000
-det2zerox setAccess 1
-det1dist 300.000000
-det1dist setAccess 1
-det1zeroy 128.000000
-det1zeroy setAccess 1
-det1zerox 128.000000
-det1zerox setAccess 1
-mono2theta 36.77
-mono2theta setAccess 1
-monodescription unknownit crystal
-monodescription setAccess 1
-# Motor om
-om sign 1.000000
-om SoftZero 0.000000
-om SoftLowerLim -73.000000
-om SoftUpperLim 134.000000
-om Fixed -1.000000
-om InterruptMode 0.000000
-om precision 0.010000
-om AccessCode 2.000000
-om poscount 20.000000
-# Motor stt
-stt sign 1.000000
-stt SoftZero 0.000000
-stt SoftLowerLim -120.000000
-stt SoftUpperLim 120.000000
-stt Fixed -1.000000
-stt InterruptMode 0.000000
-stt precision 0.010000
-stt AccessCode 2.000000
-stt poscount 20.000000
-# Motor ch
-ch sign 1.000000
-ch SoftZero 0.000000
-ch SoftLowerLim 0.000000
-ch SoftUpperLim 360.000000
-ch Fixed -1.000000
-ch InterruptMode 0.000000
-ch precision 0.010000
-ch AccessCode 2.000000
-ch poscount 20.000000
-# Motor ph
-ph sign 1.000000
-ph SoftZero 0.000000
-ph SoftLowerLim -360.000000
-ph SoftUpperLim 360.000000
-ph Fixed -1.000000
-ph InterruptMode 0.000000
-ph precision 0.010000
-ph AccessCode 2.000000
-ph poscount 20.000000
-# Motor dg3
-dg3 sign 1.000000
-dg3 SoftZero 0.000000
-dg3 SoftLowerLim -10.000000
-dg3 SoftUpperLim 40.000000
-dg3 Fixed -1.000000
-dg3 InterruptMode 0.000000
-dg3 precision 0.010000
-dg3 AccessCode 2.000000
-dg3 poscount 20.000000
-# Motor dg2
-dg2 sign 1.000000
-dg2 SoftZero 0.000000
-dg2 SoftLowerLim -10.000000
-dg2 SoftUpperLim 40.000000
-dg2 Fixed -1.000000
-dg2 InterruptMode 0.000000
-dg2 precision 0.010000
-dg2 AccessCode 2.000000
-dg2 poscount 20.000000
-# Motor dg1
-dg1 sign 1.000000
-dg1 SoftZero 0.000000
-dg1 SoftLowerLim -10.000000
-dg1 SoftUpperLim 40.000000
-dg1 Fixed -1.000000
-dg1 InterruptMode 0.000000
-dg1 precision 0.010000
-dg1 AccessCode 2.000000
-dg1 poscount 20.000000
-# Motor muca
-muca sign 1.000000
-muca SoftZero 0.000000
-muca SoftLowerLim 30.000000
-muca SoftUpperLim 36.000000
-muca Fixed -1.000000
-muca InterruptMode 0.000000
-muca precision 0.010000
-muca AccessCode 2.000000
-muca poscount 20.000000
-# Motor phi
-phi sign 1.000000
-phi SoftZero 0.000000
-phi SoftLowerLim -360.000000
-phi SoftUpperLim 360.000000
-phi Fixed -1.000000
-phi InterruptMode 0.000000
-phi precision 0.010000
-phi AccessCode 2.000000
-phi poscount 20.000000
-# Motor chi
-chi sign 1.000000
-chi SoftZero 0.000000
-chi SoftLowerLim 0.000000
-chi SoftUpperLim 360.000000
-chi Fixed -1.000000
-chi InterruptMode 0.000000
-chi precision 0.010000
-chi AccessCode 2.000000
-chi poscount 20.000000
-# Motor omega
-omega sign 1.000000
-omega SoftZero 0.000000
-omega SoftLowerLim -73.000000
-omega SoftUpperLim 134.000000
-omega Fixed -1.000000
-omega InterruptMode 0.000000
-omega precision 0.010000
-omega AccessCode 2.000000
-omega poscount 20.000000
-# Motor twotheta
-twotheta sign 1.000000
-twotheta SoftZero 0.000000
-twotheta SoftLowerLim -120.000000
-twotheta SoftUpperLim 120.000000
-twotheta Fixed -1.000000
-twotheta InterruptMode 0.000000
-twotheta precision 0.010000
-twotheta AccessCode 2.000000
-twotheta poscount 20.000000
-lastscancommand cscan a4 0. .2 10 2
-lastscancommand setAccess 2
-banana CountMode timer
-banana preset 100.000000
-sample_mur 0.000000
-sample_mur setAccess 2
-email UNKNOWN
-email setAccess 2
-fax UNKNOWN
-fax setAccess 2
-phone UNKNOWN
-phone setAccess 2
-adress UNKNOWN
-adress setAccess 2
 # Counter counter
-counter SetPreset 2.000000
+counter SetPreset 100.000000
 counter SetMode Monitor
-# Motor som
-som sign 1.000000
-som SoftZero 0.000000
-som SoftLowerLim -360.000000
-som SoftUpperLim 360.000000
-som Fixed -1.000000
-som InterruptMode 0.000000
-som precision 0.010000
-som AccessCode 2.000000
-som poscount 20.000000
-# Motor sax
-sax sign 1.000000
-sax SoftZero 0.000000
-sax SoftLowerLim -30.000000
-sax SoftUpperLim 30.000000
-sax Fixed -1.000000
-sax InterruptMode 0.000000
-sax precision 0.010000
-sax AccessCode 2.000000
-sax poscount 20.000000
-# Motor tilt
-tilt sign 1.000000
-tilt SoftZero 0.000000
-tilt SoftLowerLim -15.000000
-tilt SoftUpperLim 15.000000
-tilt Fixed -1.000000
-tilt InterruptMode 0.000000
-tilt precision 0.010000
-tilt AccessCode 0.000000
-tilt poscount 20.000000
-#----- MultiMotor st
-st recovernampos henry  d1r 5. d1l -5. d1t 0.
-#----- MultiMotor sampletable
-sampletable recovernampos henry  d1r 5. d1l -5. d1t 0.
-# Motor detectorrotation
-detectorrotation sign 1.000000
-detectorrotation SoftZero 0.000000
-detectorrotation SoftLowerLim -20.000000
-detectorrotation SoftUpperLim 20.000000
-detectorrotation Fixed -1.000000
-detectorrotation InterruptMode 0.000000
-detectorrotation precision 0.010000
-detectorrotation AccessCode 2.000000
-detectorrotation poscount 20.000000
-# Motor detectory
-detectory sign 1.000000
-detectory SoftZero 0.000000
-detectory SoftLowerLim -20.000000
-detectory SoftUpperLim 20.000000
-detectory Fixed -1.000000
-detectory InterruptMode 0.000000
-detectory precision 0.010000
-detectory AccessCode 2.000000
-detectory poscount 20.000000
-# Motor detectorx
-detectorx sign 1.000000
-detectorx SoftZero 0.000000
-detectorx SoftLowerLim -20.000000
-detectorx SoftUpperLim 20.000000
-detectorx Fixed -1.000000
-detectorx InterruptMode 0.000000
-detectorx precision 0.010000
-detectorx AccessCode 2.000000
-detectorx poscount 20.000000
-# Motor beamstopy
-beamstopy sign 1.000000
-beamstopy SoftZero 0.000000
-beamstopy SoftLowerLim -20.000000
-beamstopy SoftUpperLim 20.000000
-beamstopy Fixed -1.000000
-beamstopy InterruptMode 0.000000
-beamstopy precision 0.010000
-beamstopy AccessCode 2.000000
-beamstopy poscount 20.000000
-# Motor beamstopx
-beamstopx sign 1.000000
-beamstopx SoftZero 0.000000
-beamstopx SoftLowerLim -20.000000
-beamstopx SoftUpperLim 20.000000
-beamstopx Fixed -1.000000
-beamstopx InterruptMode 0.000000
-beamstopx precision 0.010000
-beamstopx AccessCode 2.000000
-beamstopx poscount 20.000000
-# Motor d2t
-d2t sign 1.000000
-d2t SoftZero 0.000000
-d2t SoftLowerLim -20.000000
-d2t SoftUpperLim 20.000000
-d2t Fixed -1.000000
-d2t InterruptMode 0.000000
-d2t precision 0.010000
-d2t AccessCode 2.000000
-d2t poscount 20.000000
-# Motor d2l
-d2l sign 1.000000
-d2l SoftZero 0.000000
-d2l SoftLowerLim -20.000000
-d2l SoftUpperLim 20.000000
-d2l Fixed -1.000000
-d2l InterruptMode 0.000000
-d2l precision 0.010000
-d2l AccessCode 2.000000
-d2l poscount 20.000000
-# Motor d2r
-d2r sign 1.000000
-d2r SoftZero 0.000000
-d2r SoftLowerLim -20.000000
-d2r SoftUpperLim 20.000000
-d2r Fixed -1.000000
-d2r InterruptMode 0.000000
-d2r precision 0.010000
-d2r AccessCode 2.000000
-d2r poscount 20.000000
-# Motor d1t
-d1t sign 1.000000
-d1t SoftZero 0.000000
-d1t SoftLowerLim -20.000000
-d1t SoftUpperLim 20.000000
-d1t Fixed -1.000000
-d1t InterruptMode 0.000000
-d1t precision 0.010000
-d1t AccessCode 2.000000
-d1t poscount 20.000000
-# Motor d1l
-d1l sign 1.000000
-d1l SoftZero 0.000000
-d1l SoftLowerLim -20.000000
-d1l SoftUpperLim 20.000000
-d1l Fixed -1.000000
-d1l InterruptMode 0.000000
-d1l precision 0.010000
-d1l AccessCode 2.000000
-d1l poscount 20.000000
-# Motor d1r
-d1r sign 1.000000
-d1r SoftZero 0.000000
-d1r SoftLowerLim -20.000000
-d1r SoftUpperLim 20.000000
-d1r Fixed -1.000000
-d1r InterruptMode 0.000000
-d1r precision 0.010000
-d1r AccessCode 2.000000
-d1r poscount 20.000000
-# Motor monochi
-monochi sign 1.000000
-monochi SoftZero 0.000000
-monochi SoftLowerLim -30.000000
-monochi SoftUpperLim 30.000000
-monochi Fixed -1.000000
-monochi InterruptMode 0.000000
-monochi precision 0.010000
-monochi AccessCode 2.000000
-monochi poscount 20.000000
-# Motor monophi
-monophi sign 1.000000
-monophi SoftZero 0.000000
-monophi SoftLowerLim -30.000000
-monophi SoftUpperLim 30.000000
-monophi Fixed -1.000000
-monophi InterruptMode 0.000000
-monophi precision 0.010000
-monophi AccessCode 2.000000
-monophi poscount 20.000000
-# Motor monoy
-monoy sign 1.000000
-monoy SoftZero 0.000000
-monoy SoftLowerLim -30.000000
-monoy SoftUpperLim 30.000000
-monoy Fixed -1.000000
-monoy InterruptMode 0.000000
-monoy precision 0.010000
-monoy AccessCode 2.000000
-monoy poscount 20.000000
-# Motor monox
-monox sign 1.000000
-monox SoftZero 0.000000
-monox SoftLowerLim -30.000000
-monox SoftUpperLim 30.000000
-monox Fixed -1.000000
-monox InterruptMode 0.000000
-monox precision 0.010000
-monox AccessCode 2.000000
-monox poscount 20.000000
-# Motor tasse
-tasse sign 1.000000
-tasse SoftZero 0.000000
-tasse SoftLowerLim -130.000000
-tasse SoftUpperLim 130.000000
-tasse Fixed -1.000000
-tasse InterruptMode 0.000000
-tasse precision 0.010000
-tasse AccessCode 2.000000
-tasse poscount 20.000000
-# Motor sdm
-sdm sign 1.000000
-sdm SoftZero 0.000000
-sdm SoftLowerLim -5.000000
-sdm SoftUpperLim 50.000000
-sdm Fixed -1.000000
-sdm InterruptMode 0.000000
-sdm precision 0.010000
-sdm AccessCode 2.000000
-sdm poscount 20.000000
-# Motor sgu
-sgu sign 1.000000
-sgu SoftZero 0.000000
-sgu SoftLowerLim -20.000000
-sgu SoftUpperLim 20.000000
-sgu Fixed -1.000000
-sgu InterruptMode 0.000000
-sgu precision 0.010000
-sgu AccessCode 2.000000
-sgu poscount 20.000000
-# Motor sgl
-sgl sign 1.000000
-sgl SoftZero 0.000000
-sgl SoftLowerLim -20.000000
-sgl SoftUpperLim 20.000000
-sgl Fixed -1.000000
-sgl InterruptMode 0.000000
-sgl precision 0.010000
-sgl AccessCode 2.000000
-sgl poscount 20.000000
-# Motor mgu
-mgu sign 1.000000
-mgu SoftZero 0.000000
-mgu SoftLowerLim -50.000000
-mgu SoftUpperLim 50.000000
-mgu Fixed -1.000000
-mgu InterruptMode 0.000000
-mgu precision 0.010000
-mgu AccessCode 2.000000
-mgu poscount 20.000000
-# Motor stu
-stu sign 1.000000
-stu SoftZero 0.000000
-stu SoftLowerLim -30.000000
-stu SoftUpperLim 30.000000
-stu Fixed -1.000000
-stu InterruptMode 0.000000
-stu precision 0.010000
-stu AccessCode 2.000000
-stu poscount 20.000000
-# Motor stl
-stl sign 1.000000
-stl SoftZero 0.000000
-stl SoftLowerLim -30.000000
-stl SoftUpperLim 30.000000
-stl Fixed -1.000000
-stl InterruptMode 0.000000
-stl precision 0.010000
-stl AccessCode 2.000000
-stl poscount 20.000000
-# Motor mtu
-mtu sign 1.000000
-mtu SoftZero 0.000000
-mtu SoftLowerLim -30.000000
-mtu SoftUpperLim 30.000000
-mtu Fixed -1.000000
-mtu InterruptMode 0.000000
-mtu precision 0.010000
-mtu AccessCode 2.000000
-mtu poscount 20.000000
-# Motor mtl
-mtl sign 1.000000
-mtl SoftZero 0.000000
-mtl SoftLowerLim -30.000000
-mtl SoftUpperLim 30.000000
-mtl Fixed -1.000000
-mtl InterruptMode 0.000000
-mtl precision 0.010000
-mtl AccessCode 2.000000
-mtl poscount 20.000000
-# Motor a6
-a6 sign 1.000000
-a6 SoftZero 0.000000
-a6 SoftLowerLim -30.000000
-a6 SoftUpperLim 30.000000
-a6 Fixed -1.000000
-a6 InterruptMode 0.000000
-a6 precision 0.010000
-a6 AccessCode 2.000000
-a6 poscount 20.000000
-# Motor a5
-a5 sign 1.000000
-a5 SoftZero 0.000000
-a5 SoftLowerLim -30.000000
-a5 SoftUpperLim 30.000000
-a5 Fixed -1.000000
-a5 InterruptMode 0.000000
-a5 precision 0.010000
-a5 AccessCode 2.000000
-a5 poscount 20.000000
-# Motor a4
-a4 sign 1.000000
-a4 SoftZero 0.000000
-a4 SoftLowerLim -130.000000
-a4 SoftUpperLim 130.000000
-a4 Fixed -1.000000
-a4 InterruptMode 0.000000
-a4 precision 0.010000
-a4 AccessCode 2.000000
-a4 poscount 20.000000
-# Motor a3
-a3 sign 1.000000
-a3 SoftZero 0.000000
-a3 SoftLowerLim -360.000000
-a3 SoftUpperLim 360.000000
-a3 Fixed -1.000000
-a3 InterruptMode 0.000000
-a3 precision 0.010000
-a3 AccessCode 2.000000
-a3 poscount 20.000000
-# Motor a2
-a2 sign 1.000000
-a2 SoftZero 0.000000
-a2 SoftLowerLim -73.000000
-a2 SoftUpperLim 137.000000
-a2 Fixed -1.000000
-a2 InterruptMode 0.000000
-a2 precision 0.010000
-a2 AccessCode 2.000000
-a2 poscount 20.000000
-# Motor a1
-a1 sign 1.000000
-a1 SoftZero 0.000000
-a1 SoftLowerLim 15.000000
-a1 SoftUpperLim 120.000000
-a1 Fixed -1.000000
-a1 InterruptMode 0.000000
-a1 precision 0.010000
-a1 AccessCode 2.000000
-a1 poscount 20.000000
-batchroot /data/koenneck/src/sics
-batchroot setAccess 2
-user Daniel_the_Clementine
-user setAccess 2
-sample DanielOxid
-sample setAccess 2
-title TopsiTupsiTapsi
-title setAccess 2
-starttime UNKNOWN
-starttime setAccess 2