- First commit of the new UB based TAS calculation. A milestone has been

reached: it handles one test case correctly back and forth
- Fixed oscillation code
- Added a feature for switching off automatic updates in nxupdate
  Autoamtic updates cause problems when scanning...

oscillate.c

@@ -11,23 +11,52 @@
 #include "fortify.h"
 #include "sics.h"
 #include "task.h"
+#include "commandlog.h"
 #include "oscillate.h"
+
+#define ABS(x) (x < 0 ? -(x) : (x))    
+
 /*================== real work =========================================*/
 static void StopOscillation(pOscillator self){
   assert(self != NULL);
   if(self->taskID > 0){
     self->pMot->pDriver->Halt(self->pMot->pDriver);
     self->stopFlag = 1;
-    MotorSetPar(self->pMot,self->pCon,"accesscode",(float)self->oldRights);
     self->taskID = -1;
   }
+  MotorSetPar(self->pMot,self->pCon,"accesscode",usUser);
+  if(self->debug > 0){
+    WriteToCommandLog("oscillator>> ","Stopping");
+  }
+}
+/*-------------------------------------------------------------------*/
+static float getNextPos(pOscillator self){
+  float pos;
+  if(self->nextTargetFlag == 1){
+    pos = self->upperLimit;
+    self->nextTargetFlag = 0;
+  } else {
+    pos = self->lowerLimit;
+    self->nextTargetFlag = 1;
+  }
+  return pos;
+}
+/*-------------------------------------------------------------------*/
+static float getCurrentTarget(pOscillator self){
+  float pos;
+  if(self->nextTargetFlag == 1){
+    pos = self->lowerLimit;
+  } else {
+    pos = self->upperLimit;
+  }
+  return pos;
 }
 /*---------------------------------------------------------------------*/
 static int OscillationTask(void *data){
   pOscillator self = (pOscillator)data;
   int status, code, errStatus;
-  char error[256];
-  float pos;
+  char error[256], message[132];
+  float pos, curPos;
 
 
   assert(self);
@@ -40,39 +69,43 @@ static int OscillationTask(void *data){
   case HWFault:
   case HWPosFault:
     self->pMot->pDriver->GetError(self->pMot->pDriver,&code,error,255);
-    SCWrite(self->pCon,error,eError);
-    if(self->nextTargetFlag == 1){
-      pos = self->lowerLimit;
-    } else {
-      pos = self->upperLimit;
-    }
+    WriteToCommandLog("oscillator>> ",error);
+    pos = getCurrentTarget(self);
     errStatus = self->pMot->pDriver->TryAndFixIt(self->pMot->pDriver,code,pos);
     self->errorCount++;
     if(errStatus == MOTFAIL){
       /*
 	try driving the other way on a serious error
       */
-      if(self->nextTargetFlag == 1){
-	pos = self->upperLimit;
-	self->nextTargetFlag = 0;
-      } else {
-	pos = self->lowerLimit;
-	self->nextTargetFlag = 1;
+      pos = getNextPos(self);
+      status = MotorRun(self->pMot,self->pCon,pos);
+      if(self->debug > 0){
+	snprintf(message,131,"Started oscillation to %f, ret code = %d",
+		 pos,status);
+	WriteToCommandLog("oscillator>>",message);
       }
-      MotorRun(self->pMot,self->pCon,pos);
     }
     break;
+  case HWWarn:
+    MotorGetSoftPosition(self->pMot,self->pCon,&curPos);
+    pos = getCurrentTarget(self);
+    if(ABS(curPos - pos) < .5){
+      status = MotorRun(self->pMot,self->pCon,getNextPos(self));
+    } 
+    break;
   case HWBusy:
     break;
   case HWIdle:
-    if(self->nextTargetFlag == 1){
-      pos = self->upperLimit;
-      self->nextTargetFlag = 0;
-    } else {
-      pos = self->lowerLimit;
-      self->nextTargetFlag = 1;
+    pos = getNextPos(self);
+    status = MotorRun(self->pMot,self->pCon,pos);
+    if(status == OKOK){
+      self->pMot->pDrivInt->iErrorCount = 0;
+    }
+    if(self->debug > 0){
+      snprintf(message,131,"Started oscillation to %f, ret code = %d",
+	       pos,status);
+      WriteToCommandLog("oscillator>>",message);
     }
-    MotorRun(self->pMot,self->pCon,pos);
   }
   return 1;
 }
@@ -85,16 +118,16 @@ static int StartOscillation(pOscillator self, SConnection *pCon){
   assert(self);
 
   if(self->taskID > 0){
-    SCWrite(pCon,"ERROR: oscillation already running",eError);
-    return 1;
+    SCWrite(pCon,"WARNING: oscillation already running",eWarning);
+    SCWrite(pCon,"WARNING: restarting .. ",eWarning);
+    StopOscillation(self);
+    SicsWait(2);
   } 
 
   MotorGetPar(self->pMot,"softlowerlim",&self->lowerLimit);
   self->lowerLimit += .5;
   MotorGetPar(self->pMot,"softupperlim",&self->upperLimit);
   self->upperLimit -= .5;
-  MotorGetPar(self->pMot,"accesscode",&fval);
-  self->oldRights = (int)fval;
   MotorSetPar(self->pMot,self->pCon,"accesscode",(float)usInternal);
   self->nextTargetFlag = 0;
   self->errorCount = 0;
@@ -221,6 +254,15 @@ int OscillatorWrapper(SConnection *pCon, SicsInterp *pSics, void *pData,
 	     "see commandlog for details");
     SCWrite(pCon,pBueffel,eValue);
     return 1;
+  } else if(strcmp(argv[1],"debug") == 0) {
+    if(argc >= 3){
+      self->debug = atoi(argv[2]);
+      SCSendOK(pCon);
+      return 1;
+    }
+    snprintf(pBueffel,255,"%s.debug = %d", argv[0],self->debug);
+    SCWrite(pCon,pBueffel,eValue);
+    return 1;
   } else if(strcmp(argv[1],"status") == 0) {
     if(self->taskID > 0){
       snprintf(pBueffel,255,"Oscillation running, %d errors so far, %s",