- Reworked the connection object and the IO system

- Reworked the support for TRICS
- Added a second generation motor

background.c

@@ -0,0 +1,87 @@
+/**
+ * This is for backgrounding operations in SICS. They run in an own 
+ * task. 
+ * 
+ * copyright: see file COPYRIGHT
+ * 
+ * Mark Koennecke, February 2009
+ */
+#include <sics.h>
+#include "splitter.h"
+#include "background.h"
+
+/*---------------------------------------------------------------------------*/
+typedef struct {
+	SConnection *con;
+	char *command;
+} BckTask, *pBckTask;
+/*---------------------------------------------------------------------------*/
+static void KillBckTask(void *data){
+	pBckTask self = (pBckTask)data;
+	if(self == NULL){
+		return;
+	}
+	if(self->con){
+		SCDeleteConnection(self->con);
+	}
+	if(self->command){
+		free(self->command);
+	}
+}
+/*---------------------------------------------------------------------------*/
+static int BackgroundTask(void *data){
+	pBckTask self = (pBckTask)data;
+	
+	assert(self != NULL);
+	
+	InterpExecute(pServ->pSics,self->con,self->command);
+	return 0;
+}
+/*----------------------------------------------------------------------------*/
+int BackgroundCommand(SConnection *pCon, char *command){
+	pBckTask self = NULL;
+	
+	self = calloc(1,sizeof(BckTask));
+	if(self == NULL){
+		return 0;
+	}
+	
+	self->con = SCCopyConnection(pCon);
+	self->command = strdup(command);
+	if(self->con == NULL || self->command == NULL){
+		free(self);
+		return 0;
+	}
+	
+	TaskRegister(pServ->pTasker, 
+				BackgroundTask,
+				NULL,
+				KillBckTask,
+				self,
+				1);
+	return 1;
+}
+/*------------------------------------------------------------------------*/
+int BackgroundAction(SConnection *pCon, SicsInterp *pSics, 
+                          void *pData, int argc, char *argv[]){
+	int status;
+	char command[1024];
+
+	memset(command,0,1024);
+	Arg2Text(argc-1,&argv[1], command, 1024);
+	status = BackgroundCommand(pCon,command);
+	if(status == 0){
+		SCWrite(pCon,"ERROR: out of memory starting task", eError);
+		return 0;
+	}
+	SCSendOK(pCon);
+	return 1;
+}
+/*--------------------------------------------------------------------------*/
+void InstallBackground(SicsInterp *pSics){
+	AddCommand(pSics,
+			"bg",
+			BackgroundAction,
+			NULL,
+			NULL);
+}