- Added separate drivable motors for four circle H, K, L

- Added a listen mode to commandlog in order to support the batchEditor
- Some small fixes to exe* for BatchEditor

diffscan.w

@@ -0,0 +1,97 @@
+\subsection{Differential Scan}
+This is a special very fast but inaccurate scan method. The scan motor is 
+set into motion and counts are collected on the fly, while the motor
+is moving. As neither the motor speed, nor the counters response nor
+the source stability can be relied upon to result in equally spaced
+and well defined counts, the counts have to be scaled according to the
+difference in monitor counts towards the previous count. This is why
+this is called differential scan. This is not a
+precise scan. But is a very fast one which helps locating peaks or
+during alignment. 
+
+This is implemented as an operator on top of the standard scan
+module. All scan details, scan variables etc have to be configured in
+the main scan module. This object then just runs the diff scan  and
+stores the result in the main scan object for further processing. For
+instance peak location. The end of the scan is calculated from the
+start, step and NP of the main scan module. be aware that these values
+have no well defined meaning during this kind of scan, NP will be
+corrected to account for the points actually measured.  
+
+As motors cannot be guaranteed to run simulataneously, only one scan
+variable is suported for this.
+
+The actual control of this scan is hidden in a task function which is
+responsible for storing the data and stopping when the motor has
+finished driving. 
+
+In order to do a differential scan a data structure is required:
+@d diffscandat @{
+typedef struct {
+	pObjectDescriptor pDes;
+	ObPar             *parArray;
+	int normalizationScale;
+	int scaleMonitor;
+	CountEntry last;
+	int skip;
+        int skipCount;
+	pScanData scanObject;
+	} DiffScan, *pDiffScan;
+@} 
+The fields:
+\begin{description}
+\item[pDes] The standard object descriptor.
+\item[parArray] An array of parameters for the module.
+\item[normalizationScale] The scale to which to scale counts during
+counting.This will be the monitor difference between the first and the
+second point. 
+\item[lastMonitor] is the last monitor read for caluclating differences.
+\item[scaleMonitor] The monitor to use for scaling. This should better
+be a monitor with a high count rate for acurate scaling. 
+\item[skip] How many cycles of the main loop to skip between
+recordings.
+\item[skipCount] Counter for skipped cycles. Together with skip this
+is a means to limit the sampling rate of diffscan. 
+\item[scanObject] The scan object we are operating upon. 
+\end{description}
+
+The external interface to this module is like this:
+@d diffscanint @{
+  /**
+    * RunDiffScan runs a differential scan.
+    * @@param self The Diffscan object to use
+    * @@param pScan The scan object to use for configuration and for
+    * for storing the results.
+    * @@param pCon The connection to use for output and errors.
+    * @@param fEnd The end value for the diffscan
+    */
+  int RunDiffScan(pDiffScan self, pScanData pScan, 
+	SConnection *pCon, float fEnd);
+/*==================== interpreter wrappers ==========================*/
+  int DiffScanWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  int argc, char *argv[]);
+  int MakeDiffScan(SConnection *pCon, SicsInterp *pSics, void *pData,
+                  int argc, char *argv[]);
+
+  
+@}
+
+@o diffscan.h @{
+/*-------------------------------------------------------------------
+  diffscan is an operator which can perform a fast differential scan 
+  while a motor is running. 
+
+  copyright: see file COPYRIGHT
+
+  Mark Koennecke, November 2004
+---------------------------------------------------------------------*/
+#ifndef SICSDIFFSCAN
+#define SICSDIFFSCAN
+#include "obpar.h"
+#include "scan.h"
+#include "scan.i"
+@<diffscandat@> 
+/*==================================================================*/
+@<diffscanint@>
+#endif
+@}