- 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

interface.tex

@@ -154,6 +154,8 @@ $\langle$driv {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@        int GetDrivablePosition(void *pObject, SConnection *pCon,@\\
 \mbox{}\verb@                                 float *fPos);@\\
 \mbox{}\verb@@\\
+\mbox{}\verb@        long StartDriveTask(void *self, SConnection *pCon, char *name,  float fTarget);@\\
+\mbox{}\verb@@\\
 \mbox{}\verb@@$\Diamond$
 \end{list}
 \vspace{-1ex}
@@ -206,6 +208,11 @@ will be returned.
 object. If the device is a motor corrections for zero points and signs
 will be applied. Returns 1 on success and 0 on failure}
 
+{\bf StartDriveTask starts a drivable in a new task. If the task can be started, its 
+task ID is returned. -1 is returned on failure.
+}
+
+
 \subsubsection{The Countable Interface}
 This is an interface for interacting with anything which counts.
 
@@ -233,6 +240,7 @@ $\langle$count {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@            int GetCountLock(pICountable self, SConnection *pCon);@\\
 \mbox{}\verb@            void ReleaseCountLock(pICountable self);@\\
 \mbox{}\verb@            int isRunning(pICountable self);@\\
+\mbox{}\verb@        long StartCountTask(void *self, SConnection *pCon, char *name);@\\
 \mbox{}\verb@@$\Diamond$
 \end{list}
 \vspace{-1ex}
@@ -273,6 +281,11 @@ will be returned.
 {\bf ReleaseCountLock} release the count lock.
 
 {\bf isRunning} returns the running flag.
+
+{\bf StartCountTask starts a countable in a new task. If the task can be started, its 
+task ID is returned. -1 is returned on failure.
+}
+
  
 \subsubsection{The Callback Interface}
 The Callback Interface is SICS suport for component behaviour for objects.