- Modified collective drive operations to run motors in individual tasks

- Added a processnode methos to scriptcontext. processnode waits for the
  scriptchain of a node to finish.
- Fixed a bug in sicsget
- Made histmemsec dim and rank manager privilege. To allow chnage at runtime.
  Is required for SANS
- Fixed some issues with multicountersec, mostly relating to passing things through
  in a sensible way.
- Updated motorsec.c to work with a client based driver


SKIPPED:
	psi/polterwrite.c
	psi/tabledrive.c
	psi/tabledrive.h

confvirtualmot.c

@@ -47,6 +47,7 @@ typedef struct {
   pIDrivable pDriv;
   float value;
   int running;
+  long taskID;
 } RealMotor, *pRealMotor;
 
 /* Data passed by event generating object */
@@ -179,9 +180,9 @@ static int startMotorList(pConfigurableVirtualMotor self,
   iRet = LLDnodePtr2First(self->motorList);
   while (iRet != 0) {
     LLDnodeDataTo(self->motorList, &tuktuk);
-    status = tuktuk.pDriv->SetValue(tuktuk.data, pCon, tuktuk.value);
-    if (status != 1) {
-      return status;
+    tuktuk.taskID = StartDriveTask(tuktuk.data,pCon,tuktuk.name,tuktuk.value);
+    if (tuktuk.taskID < 0) {
+      return HWFault;
     }
     tuktuk.running = 1;
     LLDnodeDataFrom(self->motorList, &tuktuk);
@@ -342,28 +343,12 @@ static int ConfCheckStatus(void *pData, SConnection * pCon)
   while (iRet != 0) {
     LLDnodeDataTo(self->motorList, &tuktuk);
     if (tuktuk.running == 1) {
-      status = tuktuk.pDriv->CheckStatus(tuktuk.data, pCon);
-      switch (status) {
-      case HWIdle:
-        tuktuk.running = 0;
+      status = isTaskIDRunning(pServ->pTasker,tuktuk.taskID);
+      if(status == 1){
+	return HWBusy;
+      } else {
+	tuktuk.running = 0;
         LLDnodeDataFrom(self->motorList, &tuktuk);
-        break;
-      case HWBusy:
-        result = HWBusy;
-        break;
-      case HWFault:
-      case HWPosFault:
-    	if(self->state != NULL){
-    		free(self->state);
-    		self->state = strdup("idle");
-    	}
-        return status;
-        break;
-      default:
-        /*
-           this is a programming error and has to be fixed
-         */
-        assert(0);
       }
     }
     iRet = LLDnodePtr2Next(self->motorList);