- Removed old code

- Extended tasker to support task groups
- Added task functions for motors and counters
- Modifed devexec to use the new task functions
- Modified TAS to treat the monochromator separatly
- Coded a EIGER monochromator module to reflect even more new
  requirements
- Added EPICS counters and motors
- Modified multicounter to be better performing


SKIPPED:
	psi/eigermono.c
	psi/make_gen
	psi/makefile_linux
	psi/psi.c
	psi/sinqhttp.c

drive.c

@@ -160,7 +160,7 @@ int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
 
   /* check if user is allowed to drive */
   if (!SCMatchRights(pCon, usUser)) {
-    snprintf(pBueffel,511, "Insuficient Privilege to drive %s", name);
+    snprintf(pBueffel,511, "ERROR: Insuficient Privilege to drive %s", name);
     SCWrite(pCon, pBueffel, eError);
     return 0;
   }
@@ -168,7 +168,7 @@ int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
   /* first try to find the thing to drive */
   pObject = FindCommand(pInter, name);
   if (!pObject) {
-    snprintf(pBueffel,511, "Cannot find %s to drive ", name);
+    snprintf(pBueffel,511, "ERROR: Cannot find %s to drive ", name);
     SCWrite(pCon, pBueffel, eError);
     return 0;
   }
@@ -179,7 +179,7 @@ int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
   pDum = (Dummy *) pObject->pData;
   pDes = pDum->pDescriptor;
   if (!pDes) {
-    snprintf(pBueffel,511, "%s is NOT drivable!", pDes->name);
+    snprintf(pBueffel,511, "ERROR: %s is NOT drivable!", pDes->name);
     SCWrite(pCon, pBueffel, eError);
     return 0;
   }
@@ -189,14 +189,14 @@ int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
    */
   pInt = pDes->GetInterface(pDum, DRIVEID);
   if (!pInt) {
-    snprintf(pBueffel,511, "%s is NOT drivable!", pDes->name);
+    snprintf(pBueffel,511, "ERROR: %s is NOT drivable!", pDes->name);
     SCWrite(pCon, pBueffel, eError);
     return 0;
   }
   if (pInt) {
     iRet = pInt->CheckLimits(pDum, fNew, pBueffel, 511);
     if (!iRet) {
-      SCWrite(pCon, pBueffel, eError);
+      SCPrintf(pCon, eError, "ERROR: %s", pBueffel);
       SCSetInterrupt(pCon, eAbortOperation);
       return 0;
     }
@@ -207,7 +207,7 @@ int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
       return 1;
     }
   } else {
-    snprintf(pBueffel,511, "%s is NOT drivable", pDes->name);
+    snprintf(pBueffel,511, "ERROR: %s is NOT drivable", pDes->name);
     SCWrite(pCon, pBueffel, eError);
     return 0;
   }
@@ -426,7 +426,72 @@ int RunWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
   }
   return 1;
 }
+/*---------------------------------------------------------------------------*/
+int MoveWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
+               int argc, char *argv[])
+{
+  Tcl_Interp *tcl_interp;
+  int iRet, i;
+  double dTarget;
+  float curPos;
+  char pBueffel[512];
+  Status eOld;
+  long groupID, taskID;
+  void *obj;
 
+  assert(pCon);
+  assert(pSics);
+  tcl_interp = InterpGetTcl(pSics);
+  /* check Status */
+  eOld = GetStatus();
+
+
+  /* check no of args */
+  if (argc < 3) {
+    snprintf(pBueffel,511, "Insufficient number of args. Usage %s name val",
+            argv[0]);
+    SCWrite(pCon, pBueffel, eError);
+    return 0;
+  }
+
+  /* check authorisation */
+  if (!SCMatchRights(pCon, usUser)) {
+    SCWrite(pCon,
+            "ERROR: You are not authorized to use the mv command",
+            eError);
+    return 0;
+  }
+  groupID = GetTaskGroupID(pServ->pTasker);
+  for (i = 1; i < argc; i += 2) {
+    if (argv[i + 1] == NULL) {
+      snprintf(pBueffel,511, "ERROR: no value found for driving %s", argv[i]);
+      SCWrite(pCon, pBueffel, eError);
+      SetStatus(eOld);
+      return 0;
+    }
+    iRet = Tcl_GetDouble(tcl_interp, argv[i + 1], &dTarget);
+    if (iRet == TCL_ERROR) {
+      SCWrite(pCon, Tcl_GetStringResult(tcl_interp), eError);
+      StopExe(GetExecutor(), "ALL");
+      SetStatus(eOld);
+      return 0;
+    }
+    obj = FindCommandData(pSics,argv[i],NULL);
+    if(obj == NULL || GetDrivableInterface(obj) == NULL){
+      SCPrintf(pCon,eError, "ERROR: %s not found, not started",argv[i]);
+      break;
+    }
+    GetDrivablePosition(obj,pCon,&curPos);
+    dTarget = curPos + dTarget;
+    taskID = StartDriveTask(obj, pCon, argv[i], (float)dTarget);
+    AddTaskToGroup(pServ->pTasker,taskID,groupID);
+  }
+  while(isTaskGroupRunning(pServ->pTasker,groupID)){
+    TaskYield(pServ->pTasker);
+  }
+  SCSendOK(pCon);
+  return 0;
+}
 /*---------------------------------------------------------------------------*/
 int MakeDrive(SConnection * pCon, SicsInterp * pSics, void *pData,
               int argc, char *argv[])
@@ -457,5 +522,17 @@ int MakeDrive(SConnection * pCon, SicsInterp * pSics, void *pData,
     SCWrite(pCon, pBueffel, eError);
     return 0;
   }
+
+  if (argc > 3) {
+    iRet = AddCommand(pSics, argv[2], MoveWrapper, NULL, NULL);
+  } else {
+    iRet = AddCommand(pSics, "mv", MoveWrapper, NULL, NULL);
+  }
+  if (!iRet) {
+    sprintf(pBueffel, "ERROR: duplicate command mv not created");
+    SCWrite(pCon, pBueffel, eError);
+    return 0;
+  }
+
   return 1;
 }