From 99d2485d22bf3bcd508c43b28d4c22d6e3dd04e7 Mon Sep 17 00:00:00 2001
From: koennecke <koennecke>
Date: Fri, 17 Apr 2009 12:52:01 +0000
Subject: [PATCH] - Connections write timeouts were incorrectly handled in
 asynnetc. Fixed. - Implemented the desired run/drive behaviour: drive waits
 for what it started   run starts, and success waits for everything to finish.
 This required   changes to a lot of files. - Fixed a bug in remob which
 supressed required messages

---
 anticollider.c   |   3 +-
 asynnet.c        |  68 +++++++++++++----
 conman.c         |   5 +-
 conman.h         |   1 +
 counter.c        |  13 +++-
 counter.h        |   5 ++
 countersec.c     |  33 +++++++--
 devexec.c        |  58 ++++++++++++---
 devexec.h        | 189 ++++++++++++++++++++++++-----------------------
 devexec.tex      |  14 +++-
 devexec.w        |  14 +++-
 drive.c          |  10 +--
 drive.h          |   4 +-
 evcontroller.c   |   2 +-
 fitcenter.c      |   2 +-
 fomerge.c        |   4 +
 hdbtable.c       |   3 +
 hdbtable.h       |   2 +-
 hipadaba.c       |   3 +-
 histmem.c        |  13 +++-
 hmcontrol.c      |   2 +-
 macro.c          |   2 +-
 maximize.c       |  11 +--
 motor.c          |   6 +-
 motorsec.c       |  20 +++--
 motreg.c         |   2 +-
 multicounter.c   |   7 +-
 optimise.c       |   2 +-
 proxy.c          |   2 +-
 remob.c          |   2 +-
 scanvar.c        |   3 +-
 scriptcontext.c  |  77 +++++++++++++++++--
 selector.c       |   8 +-
 sicshdbadapter.c |   5 ++
 sicshipadaba.c   |   4 +-
 sicsobj.c        |   1 +
 stdscan.c        |  14 ++--
 tasscanub.c      |   2 +-
 velo.c           |   6 +-
 39 files changed, 422 insertions(+), 200 deletions(-)

diff --git a/anticollider.c b/anticollider.c
index 2080c3ce..f4f3dd46 100644
--- a/anticollider.c
+++ b/anticollider.c
@@ -59,7 +59,8 @@ static int ReplacementCheckStatus(void *pData, SConnection * pCon)
   if (myCollider->isDirty == 1) {
     myCollider->isDirty = 0;
     StartDevice(pServ->pExecutor,
-                "anticollider", myCollider->pDes, myCollider, pCon, 77.77);
+                "anticollider", myCollider->pDes, myCollider, 
+                pCon,pCon->runLevel,  77.77);
     return HWIdle;
   } else {
     return HWIdle;
diff --git a/asynnet.c b/asynnet.c
index 33b248da..8367ac4e 100644
--- a/asynnet.c
+++ b/asynnet.c
@@ -42,7 +42,7 @@
 #define DATASOCKET     1
 #define MAXCONNECTIONS   1024
 #define RBUFFERSIZE       262144 /* 256kb */
-#define WBUFFERSIZE       2*262144 /* 512kb */
+#define WBUFFERSIZE       4*262144 /* 512kb */
 /*--------------------------------------------------------------------------*/
 typedef struct {
   int socket;
@@ -233,8 +233,8 @@ int ANETconnect(char *name, int iPort)
   }
   memset(&addresse, 0, sizeof(struct sockaddr_in));
   addresse.sin_family = AF_INET;
-  addresse.sin_port = iPort;
-  addresse.sin_addr = addr;
+  addresse.sin_port = htons((unsigned short)(iPort &0xFFFF));
+  addresse.sin_addr.s_addr = addr.s_addr;
   socke = socket(AF_INET, SOCK_STREAM, 0);
   status = connect(socke, (struct sockaddr *) &addresse,
                    sizeof(struct sockaddr_in));
@@ -281,12 +281,11 @@ static int anetWrite(SocketDescriptor con)
   int status, length;
   void *pPtr;
 
-  con.lastOpenForWrite = time(NULL);
   pPtr = GetRWBufferData(con.writeBuffer, &length);
   if (length > 0) {
     status = send(con.socket, pPtr, length, 0);
     if (status < 0) {
-      if (errno == EAGAIN) {
+      if (errno == EAGAIN || errno == EWOULDBLOCK || errno == EINTR) {
         return 1;
       }
       ANETclose(con.handle);
@@ -296,7 +295,39 @@ static int anetWrite(SocketDescriptor con)
   }
   return 1;
 }
+/*--------------------------------------------------------------------------
+ * I have seen that select did not report the write possibility set, 
+ * though the send buffer was empty. Thus I try to write if data is there
+ * and leave the lastOpenForWrite flag only when the socket would block 
+ * on write.
+ *--------------------------------------------------------------------------*/
+static int anetTestWrite(SocketDescriptor con)
+{
+  int status, length;
+  void *pPtr;
+  time_t lastTime;
 
+  if(con.type != DATASOCKET){
+	  return 1;
+  }
+  
+  lastTime = con.lastOpenForWrite;
+  con.lastOpenForWrite = time(NULL);
+  pPtr = GetRWBufferData(con.writeBuffer, &length);
+  if (length > 0) {
+    status = send(con.socket, pPtr, length, 0);
+    if (status < 0) {
+      if (errno == EAGAIN || errno == EWOULDBLOCK || errno == EINTR) {
+    	con.lastOpenForWrite = lastTime;  
+        return 1;
+      }
+      ANETclose(con.handle);
+      return 0;
+    }
+    RemoveRWBufferData(con.writeBuffer, status);
+  }
+  return 1;
+}
 /*--------------------------------------------------------------------------*/
 static int anetRead(SocketDescriptor con)
 {
@@ -354,7 +385,7 @@ static int anetRead(SocketDescriptor con)
 /*---------------------------------------------------------------------------*/
 void ANETprocess(void)
 {
-  int i, status, count = 0, socke = 0;
+  int i, status, count = 0, socke = 0, length;
   fd_set readMask, writeMask;
   struct timeval tmo = { 0, 10 };
 
@@ -378,7 +409,7 @@ void ANETprocess(void)
     return;
   }
 
-        /**
+    /**
 	 * I always jump out of this loop when a socket is created or closed 
 	 * because then the order in the connections array is no longer valid. 
 	 * Try again the next time round.
@@ -386,21 +417,30 @@ void ANETprocess(void)
   for (i = 0; i < noConnections; i++) {
     socke = connections[i].socket;
     if (FD_ISSET(socke, &readMask)) {
-      if (!anetRead(connections[i])) {
+      if (anetRead(connections[i]) == 0) {
         return;
       }
     }
     if (FD_ISSET(socke, &writeMask)) {
-      if (!anetWrite(connections[i])) {
+      /*
+       * This has to be here, as I found out tracing a subtle bug:
+       * If the time is set in writeANET the modification will not 
+       * propagate into the array as C copies the structure for the function call.
+       */ 
+      connections[i].lastOpenForWrite = time(NULL);	
+      if (anetWrite(connections[i]) == 0) {
         return;
       }
     } else {
       /*
-       * if I could not write to the socket for three minutes, 
-       * the socket is considered broken and is closed
+       * If I could not write to the socket for 5 minutes, 
+       * the socket is considered broken and is closed. 
        */
-      if (time(NULL) > connections[i].lastOpenForWrite + 180 &&
+      if (time(NULL) > connections[i].lastOpenForWrite + 300 &&
           connections[i].type == DATASOCKET) {
+    	GetRWBufferData(connections[i].writeBuffer, &length);  
+    	anetLog(ANETCON, "Closing socket because of time overrun: %d, delay = %d, bytes to be written = %d, write bit = %d\n", connections[i].socket,
+    			(int)(time(NULL) - connections[i].lastOpenForWrite), length, FD_ISSET(connections[i].socket, &writeMask) );
         ANETclose(connections[i].handle);
         return;
       }
@@ -467,8 +507,8 @@ int ANETwrite(int handle, void *buffer, int count)
       status = StoreRWBuffer(con->writeBuffer, buffer, count);
     }
     if (status != 1) {
-      anetLog(ANETERROR, "write buffer overrun on handle %d, socket %d",
-              con->handle, con->socket);
+      anetLog(ANETERROR, "Write buffer overrun on handle %d, socket %d, trying to write %d bytes",
+              con->handle, con->socket, count);
       return ANETWRITEBUFFERFULL;
     }
   }
diff --git a/conman.c b/conman.c
index f0372e6d..d5ba423a 100644
--- a/conman.c
+++ b/conman.c
@@ -198,7 +198,8 @@ static SConnection *CreateConnection(SicsInterp * pSics)
   pRes->listening = 0;
   pRes->conStart = time(NULL);
   pRes->write = SCNormalWrite;
-
+  pRes->runLevel = RUNDRIVE;
+  
   /* initialise context variables */
   pRes->iCmdCtr = 0;
   pRes->conEventType = -1;
@@ -425,6 +426,7 @@ SConnection *SCCopyConnection(SConnection * pCon)
   result->conStart = pCon->conStart;
   result->contextStack = -1;
   result->iList = -1;
+  result->runLevel = pCon->runLevel;
   return result;
 }
 
@@ -847,7 +849,6 @@ int SCWriteWithOutcode(SConnection * self, char *buffer, int iOut)
   free(bufPtr);
   return 1;
 }
-
 /*-------------------------------------------------------------------------*/
 static int SCBufferWrite(SConnection * self, char *buffer, int iOut)
 {
diff --git a/conman.h b/conman.h
index 40c0436e..b0f7b49b 100644
--- a/conman.h
+++ b/conman.h
@@ -54,6 +54,7 @@ typedef struct __SConnection {
   int transID;                  /* transaction ID */
   char deviceID[256];           /* transaction device ID */
   int iUserRights;              /* user rights of the connection */
+  int runLevel;                 /* run level, either RUNRUN for asynchronous or RUNDRIVE for synchronous */
 
   /* master connection object fields */
   int iList;                    /* callback registry, may go? */
diff --git a/counter.c b/counter.c
index b58c2ca3..e37447f1 100644
--- a/counter.c
+++ b/counter.c
@@ -115,7 +115,7 @@ static int StartCount(void *pData, SConnection * pCon)
     } else {
       iRet = self->pDriv->GetError(self->pDriv, &iErr, pError, 79);
       sprintf(pBueffel, "WARNING: %s ", pError);
-      SCWrite(pCon, pBueffel, eError);
+      SCWrite(pCon, pBueffel, eLog);
       iRet = self->pDriv->TryAndFixIt(self->pDriv, iErr);
       if (iRet == COTERM) {
         SCWrite(pCon, "ERROR: Cannot fix counter problem, aborting",
@@ -226,7 +226,7 @@ static int CheckCountStatus(void *pData, SConnection * pCon)
     self->badStatusCount++;
     iRet = self->pDriv->GetError(self->pDriv, &iErr, pError, 79);
     sprintf(pBueffel, "WARNING: %s ", pError);
-    SCWrite(pCon, pBueffel, eError);
+    SCWrite(pCon, pBueffel, eLog);
     iRet = self->pDriv->TryAndFixIt(self->pDriv, iErr);
     if (iRet == COTERM || self->badStatusCount > 3) {
       SCWrite(pCon, "ERROR: Cannot fix counter problem, aborting", eError);
@@ -373,7 +373,7 @@ void DeleteCounter(void *pData)
 /*-------------------------------------------------------------------------*/
 int DoCount(pCounter self, float fPreset, SConnection * pCon, int iBlock)
 {
-  int iRet;
+  int iRet, level;
   char pBueffel[132];
   Status eOld;
 
@@ -392,8 +392,13 @@ int DoCount(pCounter self, float fPreset, SConnection * pCon, int iBlock)
   /* set Preset */
   SetCounterPreset(self, fPreset);
 
+  if(iBlock){
+	  level = RUNDRIVE;
+  } else {
+	  level = RUNRUN;
+  }
   iRet = StartDevice(GetExecutor(), self->name, self->pDes, self, pCon,
-                     fPreset);
+                     level, fPreset);
   if (!iRet) {
     SetStatus(eOld);
     SCWrite(pCon, "Counting aborted", eError);
diff --git a/counter.h b/counter.h
index 46ceb3d5..6c2aee8c 100644
--- a/counter.h
+++ b/counter.h
@@ -8,6 +8,10 @@
         Mark Koennecke, January 1996
         
         copyright: see implementation file.
+        
+   Massively reworked to accomodate second generation counter objects.
+   
+   Mark Koennecke, January 2009 
 ----------------------------------------------------------------------------*/
 #ifndef SICSCOUNTER
 #define SICSCOUNTER
@@ -25,6 +29,7 @@ typedef struct __Counter{
   unsigned long tStart;
   int iCallbackCounter;
   int badStatusCount;
+  int haltFixFlag; /*  solely here to prevent multiple calls to the halt function on overrun timers in countersec.c*/
   int (*setMode)(struct __Counter *self, CounterMode eMode);
   CounterMode (*getMode)(struct __Counter *self);
   int (*getNMonitor)(struct __Counter *self);
diff --git a/countersec.c b/countersec.c
index 6f5c7630..8967e91b 100644
--- a/countersec.c
+++ b/countersec.c
@@ -61,6 +61,7 @@ static int SecStartCount(void *pData, SConnection *pCon)
 	}
 	
 	status = SecCtrInvokeFunction(self,pCon, START);
+	self->haltFixFlag = 0;
 	if(status == 1){
 		self->isUpToDate = 0;
 		self->badStatusCount = 0;
@@ -68,6 +69,13 @@ static int SecStartCount(void *pData, SConnection *pCon)
 		node = GetHipadabaNode(self->pDes->parNode, "status");
 		UpdateHipadabaPar(node,MakeHdbText("run"), pCon);
 		SetHdbProperty(node,"geterror", NULL);
+		/*
+		 * set time to 0. Otherwise, if there is a delay, 
+		 * the check for overrun counters in SecCtrCheckStatus
+		 * may trigger!
+		 */
+		node = GetHipadabaNode(self->pDes->parNode, "time");
+		UpdateHipadabaPar(node,MakeHdbFloat(.0), pCon);
 		InvokeCallBack(self->pCall,COUNTSTART, pCon);
 		return 1;
 	} else {
@@ -135,13 +143,15 @@ static int SecCtrCheckStatus(void *pData, SConnection *pCon)
 		ReleaseCountLock(self->pCountInt);
 	    status = HWFault;
 	}
-	
+    ReleaseHdbValue(&v);
+    
 	/*
 	 * check for overrun timers
 	 */
 	if(self->getMode(self) == eTimer && 
-			time(NULL) > self->tStart + self->getPreset(self)){
+			time(NULL) > self->tStart + self->getPreset(self) && self->haltFixFlag == 0){
 		SecCtrHalt(self);
+		self->haltFixFlag = 1;
 	}
 	
 	node = GetHipadabaNode(self->pDes->parNode,"control");
@@ -182,11 +192,14 @@ static int SecCtrTransferData(void *pData, SConnection *pCon)
 	assert(self != NULL);
 	pHdb node =  NULL;
 	hdbValue v;
+	int status;
 	
 	node = GetHipadabaNode(self->pDes->parNode,"values");
 	assert(node != NULL);
 	self->isUpToDate = 1;
-	return GetHipadabaPar(node,&v,pCon);
+	status = GetHipadabaPar(node,&v,pCon);
+	ReleaseHdbValue(&v);
+	return status;
 }
 /*------------------------------------------------------------------------*/
 static void *SecCtrCounterGetInterface(void *pData, int iID)
@@ -225,16 +238,19 @@ static CounterMode SecCtrGetMode(pCounter self)
 {
 	hdbValue v;
 	pHdb node = NULL;
+	CounterMode mode;
 	
 	node = GetHipadabaNode(self->pDes->parNode,"mode");
 	assert(node != NULL);
 	GetHipadabaPar(node,&v,NULL);
 	assert(v.v.text != NULL);
 	if(strcmp(v.v.text,"timer") == 0){
-		return eTimer;
+		mode = eTimer;
 	} else {
-		return ePreset;
+		mode = ePreset;
 	}
+	ReleaseHdbValue(&v);
+	return mode;
 }
 /*--------------------------------------------------------------------------*/
 static int SecCtrSetPreset(pCounter self, float val)
@@ -287,6 +303,7 @@ static long  SecCtrGetMonitor(pCounter self, int iNum, SConnection *pCon)
 {
 	hdbValue v;
 	pHdb node = NULL;
+	long val;
 	
 	if (!self->isUpToDate) {
 		self->pCountInt->TransferData(self, pCon);
@@ -295,10 +312,12 @@ static long  SecCtrGetMonitor(pCounter self, int iNum, SConnection *pCon)
 	assert(node != NULL);
 	GetHipadabaPar(node,&v,pCon);
 	if(iNum >= 0 && iNum < v.arrayLength){
-		return (long)v.v.intArray[iNum];
+		val = (long)v.v.intArray[iNum];
 	} else {
-		return -1L;
+		val =  -1L;
 	}
+	ReleaseHdbValue(&v);
+	return val;
 }
 /*--------------------------------------------------------------------------*/
 static long SecCtrGetCounts(pCounter self, SConnection *pCon)
diff --git a/devexec.c b/devexec.c
index 6ce19f74..eef71286 100644
--- a/devexec.c
+++ b/devexec.c
@@ -15,6 +15,9 @@
     Reworked to use copied connection objects instead of context pushes. 
     Mark Koennecke, January 2009 
     
+    Modified to accomodate run levels
+    Mark Koennecke, April 2009
+    
 	Copyright:
 
 	Labor fuer Neutronenstreuung
@@ -121,6 +124,7 @@ typedef struct _DevEntry {
   float fVal;
   char *name;
   SConnection *pCon;
+  int level;
 } DevEntry, *pDevEntry;
 /*------------------------------------------------------------------------*/
 typedef struct {
@@ -131,7 +135,7 @@ typedef struct {
 } checkContext, *pCheckContext;
 /*-------------------------------------------------------------------------*/
 static pDevEntry CreateDevEntry(pObjectDescriptor pDes, SConnection * pCon,
-                                void *pData, float fVal, char *name)
+                                void *pData, float fVal, char *name, int level)
 {
   pDevEntry pNew = NULL;
 
@@ -146,6 +150,8 @@ static pDevEntry CreateDevEntry(pObjectDescriptor pDes, SConnection * pCon,
   pNew->name = strdup(name);
   pNew->fVal = fVal;
   pNew->pCon = SCCopyConnection(pCon);
+  pNew->pCon->runLevel = level;
+  pNew->level = level;
   return pNew;
 }
 
@@ -275,7 +281,7 @@ void ExeInterest(pExeList self, pDevEntry pDev, char *text)
 
 /*------------------------------------------------------------------------*/
 int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
-                void *pData, SConnection * pCon, float fNew)
+                void *pData, SConnection * pCon, int level, float fNew)
 {
   pDevEntry pNew = NULL;
   int iRet;
@@ -319,7 +325,7 @@ int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
 
   /* well create a new entry */
   self->iStop = 0;
-  pNew = CreateDevEntry(pDes, pCon, pData, fNew, name);
+  pNew = CreateDevEntry(pDes, pCon, pData, fNew, name, level);
   if (!pNew) {
     SCWrite(pCon, "ERROR: memory exhausted in Device Executor ", eError);
     return 0;
@@ -380,7 +386,7 @@ int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
 
 /*--------------------------------------------------------------------------*/
 int StartMotor(pExeList self, SicsInterp * pSics, SConnection * pCon,
-               char *name, float fVal)
+               char *name, int level, float fVal)
 {
   pDummy pMot = NULL;
   CommandList *pCom = NULL;
@@ -415,12 +421,12 @@ int StartMotor(pExeList self, SicsInterp * pSics, SConnection * pCon,
     return 0;
   }
   return StartDevice(self, name, pMot->pDescriptor, (void *) pMot, pCon,
-                     fVal);
+                     level, fVal);
 }
 
 /*---------------------------------------------------------------------------*/
 int StartCounter(pExeList self, SicsInterp * pSics, SConnection * pCon,
-                 char *name)
+                 int level, char *name)
 {
   pCounter pCter = NULL;
   CommandList *pCom = NULL;
@@ -455,7 +461,7 @@ int StartCounter(pExeList self, SicsInterp * pSics, SConnection * pCon,
     return 0;
   }
   return StartDevice(self, name, pCter->pDes, (void *) pCter,
-                     pCon, pCter->pDriv->fPreset);
+                     pCon, level, pCter->pDriv->fPreset);
 }
 
 /*-------------------------------------------------------------------------*/
@@ -652,6 +658,27 @@ int CheckExeList(pExeList self)
   iRet = LLDnodePtr2First(self->iList);
   return testFinish(self);
 }
+/*---------------------------------------------------------------------------*/
+int DevExecLevelRunning(pExeList self, int level)
+{
+	int iRet;
+	pDevEntry pDev = NULL;
+	
+	if(self->lTask < 0){
+		return 0;
+	}
+	iRet = LLDnodePtr2First(self->iList);
+	while (iRet != 0) {
+	  LLDnodeDataTo(self->iList, &pDev);
+	  if (pDev) {
+		  if(pDev->level >= level){
+			  return 1;
+		  }
+	  }
+	  iRet = LLDnodePtr2Next(self->iList);
+	}
+	return 0;
+}
 
 /*---------------------------------------------------------------------------*/
 int Wait4Success(pExeList self)
@@ -667,7 +694,10 @@ int Wait4Success(pExeList self)
   }
 
   /* wait for Devexec task to finish */
-  TaskWait(self->pTask, self->lTask);
+  /*TaskWait(self->pTask, self->lTask); */
+  while(DevExecLevelRunning(self,RUNDRIVE)){
+	  TaskYield(self->pTask);
+  }
 #ifdef DEBUG
   printf("Wait4Success finished\n");
 #endif
@@ -759,7 +789,7 @@ int StopExe(pExeList self, char *name)
       }
       iRet = LLDnodePtr2Next(self->iList);
     }
-    SCWrite(self->pOwner, "ERROR: Full Stop called!!", eError);
+    SCWrite(self->pOwner, "ERROR: Full Stop called!!", eLogError);
     if (SCGetInterrupt(self->pOwner) > eContinue) {
       self->iStatus = DEVINT;
     }
@@ -826,7 +856,9 @@ int StopByData(pExeList self, void *data)
 int StopExeWait(pExeList self)
 {
   StopExe(self, "all");
-  Wait4Success(self);
+  while(DevExecLevelRunning(self,RUNRUN)){
+	  TaskYield(self->pTask);
+  }
   return 1;
 }
 /*--------------------------------------------------------------------------*/
@@ -1044,10 +1076,14 @@ int Success(SConnection * pCon, SicsInterp * pSics, void *pData,
 {
   int iRet;
   Status eOld;
+  pExeList self = (pExeList)pData;
 
   eOld = GetStatus();
   SetStatus(eRunning);
-  iRet = Wait4Success((pExeList) pData);
+  while(DevExecLevelRunning(self, RUNRUN)){
+	  TaskYield(self->pTask);
+  }
+  iRet = self->iStatus;
   if (iRet == DEVINT) {
     if (SCGetInterrupt(pCon) == eAbortOperation) {
       SCSetInterrupt(pCon, eContinue);
diff --git a/devexec.h b/devexec.h
index 8ea32768..a0a3d1ba 100644
--- a/devexec.h
+++ b/devexec.h
@@ -1,5 +1,5 @@
 
-#line 197 "devexec.w"
+#line 202 "devexec.w"
 
 /*----------------------------------------------------------------------------
 
@@ -28,7 +28,7 @@
 #include "obdes.h"
 #include "task.h"
 
-typedef struct __EXELIST *pExeList;
+  typedef struct __EXELIST  *pExeList;
 
 /* Returncodes */
 
@@ -37,140 +37,145 @@ typedef struct __EXELIST *pExeList;
 #define DEVERROR 2
 #define DEVBUSY  3
 
+/* run level codes */
+#define RUNRUN   0
+#define RUNDRIVE 1
 /*------------------------------------------------------------------------
                   B I R T H       &      D E A T H
 */
-pExeList CreateExeList(pTaskMan pTask);
-void DeleteExeList(void *self);
-
+  pExeList CreateExeList(pTaskMan pTask);
+  void DeleteExeList(void *self);
+  
 /* ================= Functions to talk to the above ====================== */
 
 #line 43 "devexec.w"
 
-int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
-                void *pData, SConnection * pCon, float fNew);
-int StartMotor(pExeList self, SicsInterp * pSics, SConnection * pCon,
-               char *name, float fNew);
-int StartCounter(pExeList self, SicsInterp * pSics, SConnection * pCon,
-                 char *name);
+  int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
+                  void *pData, SConnection *pCon, int level, float fNew);
+  int StartMotor(pExeList self, SicsInterp *pSics, SConnection *pCon,
+                 char *name, int level, float fNew);
+  int StartCounter(pExeList self, SicsInterp *pSics, SConnection *pCon,
+                   int level, char *name);                
 
-#line 241 "devexec.w"
+#line 249 "devexec.w"
 
 /*------------------------------------------------------------------------*/
 
-#line 88 "devexec.w"
+#line 89 "devexec.w"
 
-int CheckExeList(pExeList self);
+  int CheckExeList(pExeList self);
   /*
-     checks the entries for success and deletes entries which have finished
-     operation. If there are none left, the pOwner will be set to NULL.
-   */
-int Wait4Success(pExeList self);
+    checks the entries for success and deletes entries which have finished
+    operation. If there are none left, the pOwner will be set to NULL.
+  */ 
+  int Wait4Success(pExeList self);
 
-long GetDevexecID(pExeList self);
+   long GetDevexecID(pExeList self);
 
-int DevExecTask(void *pEL);
-void DevExecSignal(void *pEL, int iSignal, void *pSigData);
+   int DevExecLevelRunning(pExeList self, int level);
+
+  int DevExecTask(void *pEL);
+  void DevExecSignal(void *pEL, int iSignal, void *pSigData);
 
 
-#line 243 "devexec.w"
+#line 251 "devexec.w"
 
 
   /*
-     Waits for execution to finish. returns 1 on Success, 0 if problems
-     ocurred. Than the Interrupt code shall be checked and acted upon
-     accordingly.
-   */
+    Waits for execution to finish. returns 1 on Success, 0 if problems
+    ocurred. Than the Interrupt code shall be checked and acted upon
+    accordingly.
+  */
 
 /*-------------------------------------------------------------------------*/
-SConnection *GetExeOwner(pExeList self);
+  SConnection *GetExeOwner(pExeList self);
 /*-------------------------------------------------------------------------*/
-int isInRunMode(pExeList self);
+  int isInRunMode(pExeList self);
 /*--------------------------------------------------------------------------*/
-int ListPending(pExeList self, SConnection * pCon);
+  int ListPending(pExeList self, SConnection *pCon);
   /*
-     lists the Operations still pending on pCon. 
-   */
+    lists the Operations still pending on pCon. 
+  */
 /*-------------------------------------------------------------------------*/
 
-#line 137 "devexec.w"
+#line 142 "devexec.w"
 
-int StopExe(pExeList self, char *name);
-int StopExeWait(pExeList self);
+  int StopExe(pExeList self, char *name);
+  int StopExeWait(pExeList self);
    /*
-      will stop the entry name and its subentries from executing.
-      If ALL is specified as name, everything will be stopped and
-      the Executor cleared.
-      StopExeWait will stop all running things and wait for the stop
-      to complete.
-    */
-
-int StopByData(pExeList self, void *data);
+     will stop the entry name and its subentries from executing.
+     If ALL is specified as name, everything will be stopped and
+     the Executor cleared.
+     StopExeWait will stop all running things and wait for the stop
+     to complete.
+   */
+  int StopByData(pExeList self, void *data);
   /* stop the entry with the given data from execution */
 /*------------------------------------------------------------------------*/
-void ClearExecutor(pExeList self);
+  void ClearExecutor(pExeList self);
   /*
-     clears the executor without sending commands to the devices.
-   */
+    clears the executor without sending commands to the devices.
+  */
 /*-----------------------------------------------------------------------*/
-int IsCounting(pExeList self);
-int PauseExecution(pExeList self);
-int ContinueExecution(pExeList self);
+  int IsCounting(pExeList self);
+  int PauseExecution(pExeList self);
+  int ContinueExecution(pExeList self);
 
 
-#line 261 "devexec.w"
+#line 269 "devexec.w"
 
 /*-------------------------- Commands ------------------------------------*/
-int DevexecAction(SConnection * pCon, SicsInterp * pSics, void *pData,
-                  int argc, char *argv[]);
-int StopCommand(SConnection * pCon, SicsInterp * pSics, void *pData,
-                int argc, char *argv[]);
+  int DevexecAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+              int argc, char *argv[]);
+  int StopCommand(SConnection *pCon, SicsInterp *pSics, void *pData,
+              int argc, char *argv[]);
   /*
-     implements the stop command
-   */
-
-int ListExe(SConnection * pCon, SicsInterp * pSics, void *pData,
-            int argc, char *argv[]);
+   implements the stop command
+  */
+              
+  int ListExe(SConnection *pCon, SicsInterp *pSics, void *pData,
+              int argc, char *argv[]);
   /*
-     lists all currently executing objects
-   */
-int SicsIdle(SConnection * pCon, SicsInterp * pSics, void *pData,
-             int argc, char *argv[]);
+    lists all currently executing objects
+  */
+  int SicsIdle(SConnection *pCon, SicsInterp *pSics, void *pData,
+              int argc, char *argv[]);
         /*
-           prints the seconds since the device executor was running the last time
-         */
+        prints the seconds since the device executor was running the last time
+        */
 
-int Success(SConnection * pCon, SicsInterp * pSics, void *pData,
-            int argc, char *argv[]);
+  int Success(SConnection *pCon, SicsInterp *pSics, void *pData,
+              int argc, char *argv[]);
   /*
-     waits until completion of all pending operations. Used in
-     connection with non blocking operation  such as motors started
-     with run.
-   */
-int PauseAction(SConnection * pCon, SicsInterp * pSics, void *pData,
-                int argc, char *argv[]);
+    waits until completion of all pending operations. Used in
+    connection with non blocking operation  such as motors started
+    with run.
+  */
+  int PauseAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+              int argc, char *argv[]);
   /*
-     pauses execution
-   */
-int ContinueAction(SConnection * pCon, SicsInterp * pSics, void *pData,
-                   int argc, char *argv[]);
+    pauses execution
+  */
+  int ContinueAction(SConnection *pCon, SicsInterp *pSics, void *pData,
+              int argc, char *argv[]);
   /*
-     continues execution
-   */
-
+   continues execution
+  */    
+   
 /*--------------------------- Locking ---------------------------------*/
-
-#line 185 "devexec.w"
-
-void LockDeviceExecutor(pExeList self);
-void UnlockDeviceExecutor(pExeList self);
-
-
-#line 301 "devexec.w"
-
+ 
+#line 190 "devexec.w"
+ 
+         void LockDeviceExecutor(pExeList self);
+         void UnlockDeviceExecutor(pExeList self);
+ 
+ 
+#line 309 "devexec.w"
+ 
 /* -------------------------- Executor management -------------------------*/
-pExeList GetExecutor(void);
-void SetExecutor(pExeList pExe);
+        
+        pExeList GetExecutor(void);
+        void     SetExecutor(pExeList pExe);
 /*----------------------- Logging -----------------------------------------*/
-void DevexecLog(char *op, char *device);
-#endif
+   void DevexecLog(char *op, char *device);   
+#endif  
diff --git a/devexec.tex b/devexec.tex
index f129290f..e98167fb 100644
--- a/devexec.tex
+++ b/devexec.tex
@@ -47,11 +47,11 @@ $\langle$devreg {\footnotesize ?}$\rangle\equiv$
 \begin{list}{}{} \item
 \mbox{}\verb@@\\
 \mbox{}\verb@  int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,@\\
-\mbox{}\verb@                  void *pData, SConnection *pCon, float fNew);@\\
+\mbox{}\verb@                  void *pData, SConnection *pCon, int level, float fNew);@\\
 \mbox{}\verb@  int StartMotor(pExeList self, SicsInterp *pSics, SConnection *pCon,@\\
-\mbox{}\verb@                 char *name, float fNew);@\\
+\mbox{}\verb@                 char *name, int level, float fNew);@\\
 \mbox{}\verb@  int StartCounter(pExeList self, SicsInterp *pSics, SConnection *pCon,@\\
-\mbox{}\verb@                   char *name);                @\\
+\mbox{}\verb@                   int level, char *name);                @\\
 \mbox{}\verb@@$\Diamond$
 \end{list}
 \vspace{-1ex}
@@ -67,6 +67,7 @@ The main interface function is {\bf StartDevice}. The parameters are:
 \item {\bf name}. The name of the object which operates.
 \item {\bf pDes}. A pointer to the ObjectDescriptor of the object to drive or count.
 \item {\bf pData}. A pointer to the data structure coming with the object.
+\item {\bf level} The start level of the device.
 \item {\bf pCon}. A pointer to the client connection on whose request the
  operation was initiated.
 \item {\bf fNew}. A floating point value which sets the target value for
@@ -112,6 +113,8 @@ $\langle$devcheck {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@@\\
 \mbox{}\verb@   long GetDevexecID(pExeList self);@\\
 \mbox{}\verb@@\\
+\mbox{}\verb@   int DevExecLevelRunning(pExeList self, int level);@\\
+\mbox{}\verb@@\\
 \mbox{}\verb@  int DevExecTask(void *pEL);@\\
 \mbox{}\verb@  void DevExecSignal(void *pEL, int iSignal, void *pSigData);@\\
 \mbox{}\verb@@\\
@@ -155,6 +158,8 @@ properly finished operation, DEVERROR for an operation which finished
 with an error code and DEVINT for an aoperation which was interrupted
 by the user. 
   
+  {\bf DevExeclevelRunning} tests if the level given as a parameter is still running.
+  
 \subsubsection{Influencing Execution}
 In certain cases it is necessary to interact with running devices directly.
 This is done via the following interface.
@@ -285,6 +290,9 @@ to the global SICS device executor.
 \mbox{}\verb@#define DEVERROR 2@\\
 \mbox{}\verb@#define DEVBUSY  3@\\
 \mbox{}\verb@@\\
+\mbox{}\verb@/* run level codes */@\\
+\mbox{}\verb@#define RUNRUN   0@\\
+\mbox{}\verb@#define RUNDRIVE 1@\\
 \mbox{}\verb@/*------------------------------------------------------------------------@\\
 \mbox{}\verb@                  B I R T H       &      D E A T H@\\
 \mbox{}\verb@*/@\\
diff --git a/devexec.w b/devexec.w
index ac53a445..8d6f791d 100644
--- a/devexec.w
+++ b/devexec.w
@@ -42,11 +42,11 @@ functions are provided.
 
 @d devreg @{
   int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
-                  void *pData, SConnection *pCon, float fNew);
+                  void *pData, SConnection *pCon, int level, float fNew);
   int StartMotor(pExeList self, SicsInterp *pSics, SConnection *pCon,
-                 char *name, float fNew);
+                 char *name, int level, float fNew);
   int StartCounter(pExeList self, SicsInterp *pSics, SConnection *pCon,
-                   char *name);                
+                   int level, char *name);                
 @}
 
 The main interface function is {\bf StartDevice}. The parameters are:
@@ -55,6 +55,7 @@ The main interface function is {\bf StartDevice}. The parameters are:
 \item {\bf name}. The name of the object which operates.
 \item {\bf pDes}. A pointer to the ObjectDescriptor of the object to drive or count.
 \item {\bf pData}. A pointer to the data structure coming with the object.
+\item {\bf level} The start level of the device.
 \item {\bf pCon}. A pointer to the client connection on whose request the
  operation was initiated.
 \item {\bf fNew}. A floating point value which sets the target value for
@@ -95,6 +96,8 @@ From within the SICS main loops this special function is called:
 
    long GetDevexecID(pExeList self);
 
+   int DevExecLevelRunning(pExeList self, int level);
+
   int DevExecTask(void *pEL);
   void DevExecSignal(void *pEL, int iSignal, void *pSigData);
 
@@ -130,6 +133,8 @@ properly finished operation, DEVERROR for an operation which finished
 with an error code and DEVINT for an aoperation which was interrupted
 by the user. 
   
+  {\bf DevExeclevelRunning} tests if the level given as a parameter is still running.
+  
 \subsubsection{Influencing Execution}
 In certain cases it is necessary to interact with running devices directly.
 This is done via the following interface.
@@ -231,6 +236,9 @@ to the global SICS device executor.
 #define DEVERROR 2
 #define DEVBUSY  3
 
+/* run level codes */
+#define RUNRUN   0
+#define RUNDRIVE 1
 /*------------------------------------------------------------------------
                   B I R T H       &      D E A T H
 */
diff --git a/drive.c b/drive.c
index 6c0d2c6c..1a76b9ac 100644
--- a/drive.c
+++ b/drive.c
@@ -107,7 +107,7 @@ int Drive(SConnection * pCon, SicsInterp * pInter, char *name, float fNew)
       SCSetInterrupt(pCon, eAbortOperation);
       return 0;
     }
-    iRet = StartDevice(GetExecutor(), name, pDes, pDum, pCon, fNew);
+    iRet = StartDevice(GetExecutor(), name, pDes, pDum, pCon, RUNDRIVE, fNew);
     if (!iRet) {
       sprintf(pBueffel, "ERROR: cannot start device %s", name);
       SCWrite(pCon, pBueffel, eError);
@@ -143,7 +143,7 @@ int Drive(SConnection * pCon, SicsInterp * pInter, char *name, float fNew)
 
 /*---------------------------------------------------------------------------*/
 int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
-              float fNew)
+              int level, float fNew)
 {
   CommandList *pObject = NULL;
   pObjectDescriptor pDes = NULL;
@@ -199,7 +199,7 @@ int Start2Run(SConnection * pCon, SicsInterp * pInter, char *name,
       SCSetInterrupt(pCon, eAbortOperation);
       return 0;
     }
-    iRet = StartDevice(GetExecutor(), name, pDes, pDum, pCon, fNew);
+    iRet = StartDevice(GetExecutor(), name, pDes, pDum, pCon,level, fNew);
     if (!iRet) {
       return 0;
     } else {
@@ -315,7 +315,7 @@ int DriveWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
       SetStatus(eOld);
       return 0;
     }
-    iRet = Start2Run(pCon, pSics, argv[i], dTarget);
+    iRet = Start2Run(pCon, pSics, argv[i], RUNDRIVE, dTarget);
     if (!iRet) {
       sprintf(pBueffel, "ERROR: cannot run %s to %s", argv[i],
               argv[i + 1]);
@@ -407,7 +407,7 @@ int RunWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
       SetStatus(eOld);
       return 0;
     }
-    iRet = Start2Run(pCon, pSics, argv[i], dTarget);
+    iRet = Start2Run(pCon, pSics, argv[i], RUNRUN, dTarget);
     if (!iRet) {
       sprintf(pBueffel, "ERROR: cannot run %s to %s", argv[i],
               argv[i + 1]);
diff --git a/drive.h b/drive.h
index 46f70287..06c7d10f 100644
--- a/drive.h
+++ b/drive.h
@@ -12,8 +12,8 @@
 
 int Drive(SConnection * pCon, SicsInterp * pSics, char *name, float fNew);
 
-int Start2Run(SConnection * pCon, SicsInterp * pSics, char *name, float
-              fNew);
+int Start2Run(SConnection * pCon, SicsInterp * pSics, char *name, 
+			int level, float fNew);
 
 int DriveWrapper(SConnection * pCon, SicsInterp * pSics, void *pData,
                  int argc, char *argv[]);
diff --git a/evcontroller.c b/evcontroller.c
index e0a7384f..20244410 100644
--- a/evcontroller.c
+++ b/evcontroller.c
@@ -840,7 +840,7 @@ int EVCDrive(pEVControl self, SConnection * pCon, float fVal)
 
   /* start executing */
   iRet = StartDevice(GetExecutor(), self->pName, self->pDes,
-                     self, pCon, fVal);
+                     self, pCon, pCon->runLevel, fVal);
   if (!iRet) {
     sprintf(pBueffel, "ERROR: Failure to start %s", self->pName);
     SCWrite(pCon, pBueffel, eError);
diff --git a/fitcenter.c b/fitcenter.c
index 607685f8..b325f97f 100644
--- a/fitcenter.c
+++ b/fitcenter.c
@@ -293,7 +293,7 @@ int DriveCenter(pFit self, SConnection * pCon, SicsInterp * pSics)
 
   iRet =
       StartMotor(pServ->pExecutor, pSics, pCon, self->pName,
-                 self->fCenter);
+                 RUNDRIVE, self->fCenter);
   if (!iRet) {
     return 0;
   }
diff --git a/fomerge.c b/fomerge.c
index 6b1eaa3c..39b88481 100644
--- a/fomerge.c
+++ b/fomerge.c
@@ -477,6 +477,10 @@ static int *calculateTimeSum(HistInt * data, int iDet, int iTime)
   int i, j;
   int *sum = NULL;
 
+  if(data == NULL){
+	  return NULL;
+  }
+  
   sum = (int *) malloc(iTime * sizeof(int));
   if (!sum) {
     return NULL;
diff --git a/hdbtable.c b/hdbtable.c
index dc90eccb..bd33bfc5 100644
--- a/hdbtable.c
+++ b/hdbtable.c
@@ -55,6 +55,9 @@ static int ClearTblCmd(pSICSOBJ self, SConnection *pCon, pHdb commandNode,
 	
 	node = GetHipadabaNode(self->objectNode,"data");
 	if(node != NULL){
+		if(CountHdbChildren(node) < 1){
+			return 1;
+		}
 		DeleteNodeData(node);
 		RemoveHdbNodeFromParent(node, pCon);
 	}
diff --git a/hdbtable.h b/hdbtable.h
index 3bf00b80..c1848a0d 100644
--- a/hdbtable.h
+++ b/hdbtable.h
@@ -12,5 +12,5 @@
 
 pSICSOBJ MakeHdbTable(char *name, char *hdbclass);
 int ReadTableTemplate(pSICSOBJ self, SConnection *con);
-
+ 
 #endif /*HDBTABLE_H_*/
diff --git a/hipadaba.c b/hipadaba.c
index 0f4404f4..20a95ab6 100644
--- a/hipadaba.c
+++ b/hipadaba.c
@@ -972,9 +972,8 @@ int GetHipadabaPar(pHdb node, hdbValue *v, void *callData)
 {
   int status;
 
+  memset(v,0,sizeof(hdbValue));
   v->dataType = node->value.dataType;
-  v->doNotFree = 0;
-  v->v.text = NULL;             /* this sets all pointers in the union to NULL */
 
   status = SendDataMessage(node, get, v, callData);
   copyHdbValue(&node->value, v);
diff --git a/histmem.c b/histmem.c
index d7e7b8f4..b2a6a628 100644
--- a/histmem.c
+++ b/histmem.c
@@ -203,6 +203,7 @@ static int HistStartCount(void *pData, SConnection * pCon)
   }
   SCWrite(pCon, "ERROR: failed to fix histogram memory problem", eError);
   SCSetInterrupt(pCon, eAbortBatch);
+  ReleaseCountLock(self->pCountInt);
   return HWFault;
 }
 
@@ -237,12 +238,14 @@ static int HistPause(void *pData, SConnection * pCon)
         SCWrite(pCon, "ERROR: failed to fix histogram memory problem",
                 eError);
         SCSetInterrupt(pCon, eAbortBatch);
+        ReleaseCountLock(self->pCountInt);
         return HWFault;
       }
     }
   }
   SCWrite(pCon, "ERROR: failed to fix histogram memory problem", eError);
   SCSetInterrupt(pCon, eAbortBatch);
+  ReleaseCountLock(self->pCountInt);
   return HWFault;
 }
 
@@ -277,11 +280,13 @@ static int HistContinue(void *pData, SConnection * pCon)
         SCWrite(pCon, "ERROR: failed to fix histogram memory problem",
                 eError);
         SCSetInterrupt(pCon, eAbortBatch);
+        ReleaseCountLock(self->pCountInt);
         return HWFault;
       }
     }
   }
   SCWrite(pCon, "ERROR: failed to fix histogram memory problem", eError);
+  ReleaseCountLock(self->pCountInt);
   SCSetInterrupt(pCon, eAbortBatch);
   return HWFault;
 }
@@ -299,6 +304,7 @@ static int HistCountStatus(void *pData, SConnection * pCon)
   if (!self->iInit) {
     SCWrite(pCon, "ERROR: histogram memory not initialised", eError);
     InvokeCallBack(self->pCall, COUNTEND, NULL);
+    ReleaseCountLock(self->pCountInt);
     return COTERM;
   }
 
@@ -726,7 +732,7 @@ int HistDoCount(pHistMem self, SConnection * pCon)
 
   /* start */
   return StartDevice(GetExecutor(), "HistogramMemory", self->pDes, self,
-                     pCon, self->pDriv->fCountPreset);
+                     pCon, RUNRUN, self->pDriv->fCountPreset);
 }
 
 /*-----------------------------------------------------------------------*/
@@ -738,7 +744,7 @@ int HistBlockCount(pHistMem self, SConnection * pCon)
 
   /* start counting */
   iRet = StartDevice(GetExecutor(), "HistogramMemory", self->pDes, self,
-                     pCon, self->pDriv->fCountPreset);
+                     pCon, RUNDRIVE, self->pDriv->fCountPreset);
   if (!iRet) {
     /* error has already been reported */
     return 0;
@@ -1569,7 +1575,8 @@ int HistAction(SConnection * pCon, SicsInterp * pSics, void *pData,
   /* getdelay */
   else if(strcmp(argv[1],"getdelay") == 0){
 	  if(self->pDriv->data->nTimeChan > 1) {
-		  SCPrintf(pCon,eValue,"hm.delay = %d", self->pDriv->data->timeBinning[0]);
+		  iVal = (int)self->pDriv->data->timeBinning[0];
+		  SCPrintf(pCon,eValue,"hm.delay = %d", iVal);
 		  return 1;
 	  } else {
 		  SCPrintf(pCon,eError,"ERROR: no TOF configured");
diff --git a/hmcontrol.c b/hmcontrol.c
index f3d01c8a..dc1c5763 100644
--- a/hmcontrol.c
+++ b/hmcontrol.c
@@ -337,7 +337,7 @@ int HMControlAction(SConnection * pCon, SicsInterp * pSics,
      */
     self->pCount->SetCountParameters(self, (float) dPreset, eMode);
     status = StartDevice(pServ->pExecutor, "hmcontrol", self->pDes,
-                         self, pCon, 99);
+                         self, pCon, RUNRUN, 99);
     if (!status) {
       SCWrite(pCon, "ERROR: failed to start counting", eError);
       return 0;
diff --git a/macro.c b/macro.c
index 310abc53..df512bb1 100644
--- a/macro.c
+++ b/macro.c
@@ -931,7 +931,7 @@ static int TclAction(SConnection * pCon, SicsInterp * pSics, void *pData,
     sprintf(pBueffel, "ERROR: you are not authorised to invoke %s",
             argv[0]);
     SCWrite(pCon, pBueffel, eError);
-    return 1;
+    return 0;
   }
 
   /* make a string */
diff --git a/maximize.c b/maximize.c
index 67c304da..9c857bb8 100644
--- a/maximize.c
+++ b/maximize.c
@@ -80,12 +80,12 @@ static int maxDrive(void *pObject, char *pVarName,
   pDummy pDum;
   int status;
   char pBueffel[132];
-  long lTask;
 
   /* start */
   pDum = (pDummy) pObject;
   status = StartDevice(pServ->pExecutor,
-                       pVarName, pDum->pDescriptor, pObject, pCon, fPos);
+                       pVarName, pDum->pDescriptor, pObject, pCon, 
+                       RUNDRIVE, fPos);
   if (!status) {
     sprintf(pBueffel, "ERROR: failed to start %s", pVarName);
     SCWrite(pCon, pBueffel, eError);
@@ -93,11 +93,8 @@ static int maxDrive(void *pObject, char *pVarName,
   }
 
   /* wait */
-  lTask = GetDevexecID(pServ->pExecutor);
-  if (lTask > 0) {
-    TaskWait(pServ->pTasker, lTask);
-  } else {
-    return 0;
+  while(DevExecLevelRunning(pServ->pExecutor,RUNDRIVE)){
+	  TaskYield(pServ->pTasker);
   }
 
   /* check interrupts */
diff --git a/motor.c b/motor.c
index 60cec23c..78899356 100644
--- a/motor.c
+++ b/motor.c
@@ -311,7 +311,7 @@ static int statusRunTo(pMotor self, SConnection * pCon)
   if (self->retryCount >= ObVal(self->ParArray, POSCOUNT)) {
     snprintf(pBueffel, 255, "ERROR: aborting motor %s after %d retries",
              self->name, self->retryCount);
-    SCWrite(pCon, pBueffel, eError);
+    SCWrite(pCon, pBueffel, eLogError);
     return HWFault;
   }
   if (SCGetInterrupt(pCon) != eContinue) {
@@ -320,7 +320,7 @@ static int statusRunTo(pMotor self, SConnection * pCon)
   self->retryCount++;
   snprintf(pBueffel, 255, "WARNING: restarting %s, %d time",
            self->name, self->retryCount);
-  SCWrite(pCon, pBueffel, eWarning);
+  SCWrite(pCon, pBueffel, eLog);
   self->pDriver->RunTo(self->pDriver, self->fTarget);
   return HWBusy;
 }
@@ -345,7 +345,7 @@ static int checkPosition(pMotor self, SConnection * pCon)
     }
     snprintf(pBueffel, 131, "WARNING: %s off position by %f",
              self->name, absf(fHard - self->fTarget));
-    SCWrite(pCon, pBueffel, eWarning);
+    SCWrite(pCon, pBueffel, eLog);
     status = statusRunTo(self, pCon);
     return status;
   }
diff --git a/motorsec.c b/motorsec.c
index 448d6468..cce60b40 100644
--- a/motorsec.c
+++ b/motorsec.c
@@ -96,7 +96,14 @@ static long SecMotorRun(void *sulf, SConnection * pCon, float fNew)
 {
   pMotor self = (pMotor) sulf;
   hdbValue v;
-
+  int accesscode;
+  
+  assert(SICSHdbGetPar(self, NULL, "accesscode", &v) == 1);
+  accesscode = (int)v.v.doubleValue;
+  if(!SCMatchRights(pCon, accesscode)){
+	  return 0;
+  }
+  
   v = MakeHdbFloat(fNew);
   return SetHipadabaPar(self->pDescriptor->parNode, v, pCon);
 }
@@ -206,13 +213,13 @@ static int checkPosition(pMotor self, SConnection * pCon)
   SecMotorGetPar(self, "maxretry", &maxretry);
   if (ABS(target - hard) > precision) {
     if (self->retryCount >= (int) maxretry) {
-      SCPrintf(pCon, eError,
+      SCPrintf(pCon, eLogError,
                "ERROR: Aborting %s after %d retries, off position by %f",
                self->name, (int) maxretry, target - hard);
       return HWFault;
     }
     self->retryCount++;
-    SCPrintf(pCon, eWarning, "WARNING: %s off position by %f, restarting",
+    SCPrintf(pCon, eLog, "WARNING: %s off position by %f, restarting",
              self->name, target - hard);
     node = GetHipadabaNode(self->pDescriptor->parNode, "status");
     assert(node != NULL);
@@ -279,6 +286,8 @@ static int SecMotorStatus(void *sulf, SConnection * pCon)
              v.v.text);
     status = HWFault;
   }
+  ReleaseHdbValue(&v);
+  
   /*
    * when terminating: force an update of the position.
    */
@@ -608,8 +617,9 @@ pMotor SecMotorInit(char *name)
     free(pM);
     return NULL;
   }
-  /* TODO: give it a sicsdev here */
   node = pM->pDescriptor->parNode;
+  SetHdbProperty(node,"type","drivable");
+  SetHdbProperty(node,"sicsdev", name);
   pM->objectNode = node;
   AppendHipadabaCallback(pM->pDescriptor->parNode,
                          MakeHipadabaCallback(SecMotorCallback, pM, NULL));
@@ -674,7 +684,7 @@ pMotor SecMotorInit(char *name)
   SetHdbProperty(child, "__save", "true");
   AddHipadabaChild(node, child, NULL);
 
-  child = MakeSICSHdbPar("precision", usMugger, MakeHdbFloat(.1));
+  child = MakeSICSHdbPar("precision", usMugger, MakeHdbFloat(.01));
   SetHdbProperty(child, "__save", "true");
   AddHipadabaChild(node, child, NULL);
 
diff --git a/motreg.c b/motreg.c
index 0e5a4c57..bdf22d19 100644
--- a/motreg.c
+++ b/motreg.c
@@ -118,7 +118,7 @@ int StartRegMot(pMotReg self, SConnection * pCon, float fValue)
   pDriv->SetValue = self->originalSetValue;
   ret = StartDevice(pServ->pExecutor, self->motorName,
                     FindDescriptor(self->motorData),
-                    self->motorData, pCon, fValue);
+                    self->motorData, pCon, pCon->runLevel, fValue);
   /*
      sprintf(pBueffel,"anticollision started %s to %f",self->motorName,
      fValue);
diff --git a/multicounter.c b/multicounter.c
index f68463de..35ffd86e 100644
--- a/multicounter.c
+++ b/multicounter.c
@@ -92,13 +92,14 @@ static int MMCCStart(void *pData, SConnection * pCon)
   }
 
   for (i = 0; i < self->nSlaves; i++) {
-    self->slaves[i]->SetCountParameters(self->slaveData[i],
+	ReleaseCountLock(self->slaves[i]);
+	self->slaves[i]->SetCountParameters(self->slaveData[i],
                                         pCount->pDriv->fPreset,
                                         pCount->pDriv->eMode);
-    ReleaseCountLock(self->slaves[i]);
     status = self->slaves[i]->StartCount(self->slaveData[i], pCon);
     if (status != OKOK) {
       MMCCHalt(pData);
+      ReleaseCountLock(pCount->pCountInt);
       return status;
     }
   }
@@ -124,6 +125,7 @@ static int MMCCStatus(void *pData, SConnection * pCon)
 
   if (self->nSlaves == 0) {
     pCount->pDriv->iErrorCode = NOCOUNTERS;
+    ReleaseCountLock(pCount->pCountInt);
     return HWFault;
   }
 
@@ -142,6 +144,7 @@ static int MMCCStatus(void *pData, SConnection * pCon)
       if (strcmp(pDum->pDescriptor->name, "HistMem") == 0) {
         HistDirty((pHistMem) self->slaveData[i]);
       }
+      ReleaseCountLock(self->slaves[i]);
     }
   }
   return status;
diff --git a/optimise.c b/optimise.c
index 6666543a..d17f55ba 100644
--- a/optimise.c
+++ b/optimise.c
@@ -445,7 +445,7 @@ static int ClimbDrive(SConnection * pCon, char *name, float value)
 {
   int status;
 
-  status = Start2Run(pCon, pServ->pSics, name, value);
+  status = Start2Run(pCon, pServ->pSics, name, RUNDRIVE, value);
   if (status != 1) {
     return DRIVEERROR;
   }
diff --git a/proxy.c b/proxy.c
index b7065485..4e495ae2 100644
--- a/proxy.c
+++ b/proxy.c
@@ -294,7 +294,7 @@ static hdbCallbackReturn ProxyCallback(pHdb node, void *userData,
     GetHdbProperty(node, "proxy", proxyDev, 80);
     status = StartDevice(pServ->pExecutor, proxyDev,
                          self->pDes, self, pCon,
-                         (float) set->v->v.doubleValue);
+                         pCon->runLevel, (float) set->v->v.doubleValue);
     if (status == 1) {
       return hdbContinue;
     } else {
diff --git a/remob.c b/remob.c
index 1e05602e..8e5d3b35 100644
--- a/remob.c
+++ b/remob.c
@@ -169,7 +169,7 @@ static int RemHandle(RemServer * remserver)
 static void RemCopy(RemChannel * rc, SConnection * pCon)
 {
   if (pCon != NULL && rc->line[0] != '\0') {
-    SCPrintf(pCon, eWarning, "  %s", rc->line);
+    SCPrintf(pCon, eValue, "  %s", rc->line);
   }
 }
 
diff --git a/scanvar.c b/scanvar.c
index 5bc0720c..a9b48416 100644
--- a/scanvar.c
+++ b/scanvar.c
@@ -184,7 +184,8 @@ int StartScanVar(pVarEntry pVar, SConnection * pCon, int i)
   fVal = pVar->fStart + i * pVar->fStep;
   status = StartDevice(pServ->pExecutor,
                        pVar->Name,
-                       pDum->pDescriptor, pVar->pObject, pCon, fVal);
+                       pDum->pDescriptor, pVar->pObject, pCon, 
+                       RUNDRIVE, fVal);
   if (!status) {
     snprintf(pBueffel, 511, "ERROR: Failed to start %s", pVar->Name);
     SCWrite(pCon, pBueffel, eError);
diff --git a/scriptcontext.c b/scriptcontext.c
index 58c963ae..bee87d6e 100644
--- a/scriptcontext.c
+++ b/scriptcontext.c
@@ -304,7 +304,9 @@ static int SctMatch(void *data1, void *data2)
 
   return a->node == b->node && strcasecmp(a->name, b->name) == 0;
 }
-
+/*
+ * This routine is running the script chain
+ */
 static char *SctActionHandler(void *actionData, char *lastReply,
                               int commError)
 {
@@ -335,18 +337,41 @@ static char *SctActionHandler(void *actionData, char *lastReply,
   } else {
     con = controller->conn;
   }
+  /*
+   * If this is a followup call, the I/O system will have set the 
+   * property result to the data from the device. Read this now and 
+   * print it if diagnostics is required.
+   */
   SetProp(node, controller->node, "result", lastReply);
   script = NULL;
   if (!commError && controller->verbose && lastReply != NULL
       && *lastReply != '\0') {
     SCPrintf(con, eLog, "reply : %s", lastReply);
   }
+  
+  /*
+   * When this is a followup, we use the  content of the 
+   * state field as the property storing the next script to 
+   * run. If this is the start of a chain this is set to the 
+   * data->name which is either read or write
+   */
   state = GetProp(node, controller->node, "state");
   if (state == NULL || strcasecmp(state, "idle") == 0) {
     state = data->name;
     SetProp(node, controller->node, "state", state);
   }
+  
+  /*
+   * Sometimes one wishes to call multiple scripts in succession 
+   * before returning into I/O. Such scripts then do not set the 
+   * send property. The loop is taking care of this. Not more 
+   * then 10 scripts can be changed in this way. 
+   */
   for (i = 0; i < 10; i++) {
+	  /*
+	   * read the script to invoke from the property living 
+	   * in state
+	   */
     script = GetProp(node, controller->node, state);
     if (script == NULL)
       script = state;
@@ -357,12 +382,18 @@ static char *SctActionHandler(void *actionData, char *lastReply,
         script = errorScript;
       commError = 0;
     }
+    /*
+     * Set the context and invoke the script
+     */
     script = strdup(script);
     sct->sendNode = node;
     sct->sendCalled = 0;
     ret = SctCallInContext(con, script, node, controller, &result);
     sct->sendNode = NULL;
     if (ret == 0) {
+    	/*
+    	 * an error occurred in the script: complain bitterly
+    	 */
       snprintf(eprop, sizeof eprop, "error_during_%s", data->name);
       emsg = GetHdbProp(node, eprop);
       if (emsg == NULL || con != controller->conn) {
@@ -392,13 +423,24 @@ static char *SctActionHandler(void *actionData, char *lastReply,
       free(script);
       goto finish;
     }
+    /*
+     * The script executed OK. 
+     * The next state is the result
+     */
     state = result;
+    /*
+     * if the new state is idle, clean everything up 
+     * and terminate the script chain
+     */
     if (strcasecmp(state, "idle") == 0 || strcasecmp(state, "unpoll") == 0) {
+    	/* 
+    	 * send an O.k. if there was no othe rreply on write's
+    	 */
       if (queueData == data && !data->answered) {
         if (queueData->inMacro == 0) {
           iMacro = SCinMacro(con);
           con->iMacro = 0;
-          SCWrite(con, "o.k.", eWarning);
+          SCWrite(con, "o.k.", eValue);
           SCsetMacro(con, iMacro);
         }
       }
@@ -418,9 +460,16 @@ static char *SctActionHandler(void *actionData, char *lastReply,
       free(script);
       goto finish;
     }
+    /*
+     * set the state property to the next state for
+     * the next invocation of this routine
+     */
     SetProp(node, controller->node, "state", state);
     free(script);
     script = NULL;
+    /*
+     * If there is data to send, check it and do so
+     */
     if (sct->sendCalled) {
       send = GetProp(node, controller->node, "send");
       if (send == NULL)
@@ -470,6 +519,10 @@ static int SctMatchNode(void *vNode, void *vData)
   return node == d->node;
 }
 
+/*
+ * This is the read callback for nodes particpating in the 
+ * scriptcontext system
+ */
 static hdbCallbackReturn SctMainCallback(Hdb * node, void *userData,
                                          hdbMessage * msg)
 {
@@ -530,7 +583,10 @@ static hdbCallbackReturn SctMainCallback(Hdb * node, void *userData,
 
   return hdbContinue;
 }
-
+/*
+ * This is the callback registered for nodes which 
+ * are written too.
+ */ 
 static hdbCallbackReturn SctActionCallback(Hdb * node, void *userData,
                                            hdbMessage * msg)
 {
@@ -602,6 +658,9 @@ static hdbCallbackReturn SctActionCallback(Hdb * node, void *userData,
       prio = WritePRIO;
     }
 
+    /* 
+     * check for duplicate sets on a node.
+     */
     if (data->conCtx != NULL) {
       if (data->inMacro == 0) {
         GetHdbPath(node, path, sizeof path);
@@ -610,6 +669,11 @@ static hdbCallbackReturn SctActionCallback(Hdb * node, void *userData,
                  "%s target changed to %s before completion", path,
                  GetCharArray(text));
       }
+      /*
+       * the node has already been queued for execution. But as we never 
+       * know if the script chain is already running, the only clean
+       * solution is to requeue the node.
+       */
       SCDeleteConnection(data->conCtx);
     }
     DeleteDynString(text);
@@ -624,11 +688,11 @@ static hdbCallbackReturn SctActionCallback(Hdb * node, void *userData,
 
   mm = GetHdbUpdateMessage(msg);
   if (mm != NULL) {
-    if (queueData != NULL && queueData->conCtx != NULL && !data->answered) {
+    if (queueData != NULL && queueData->conCtx != NULL && queueData->answered != 1) {
       /* update called from a write action */
       text = formatValue(*(mm->v), node);
       if (queueData->inMacro == 0 && queueData->node == node) {
-        data->answered = 1;
+        queueData->answered = 1;
         iMacro = SCinMacro(queueData->conCtx);
         SCsetMacro(queueData->conCtx, 0);
         sicsCommand = GetHdbProp(node, "sicscommand");
@@ -915,7 +979,8 @@ void SctQueueNode(SctController * controller, Hdb * node,
   data->node = node;
   data->name = strdup(action);
   data->conCtx = NULL;
-
+  data->answered = 1;
+  
   if (!DevQueue(data->controller->devser, data, prio,
                 SctWriteHandler, SctMatch, SctKillData)) {
     if (data->name != NULL) {
diff --git a/selector.c b/selector.c
index 45b4294b..49d2263e 100644
--- a/selector.c
+++ b/selector.c
@@ -614,13 +614,13 @@ int MonoRun(pSicsSelector self, SConnection * pCon, float fWaveLength)
   /* start each motor in turn */
   iRet = StartDevice(GetExecutor(), self->pTheta->name,
                      self->pTheta->pDescriptor,
-                     self->pTheta, pCon, sNeu.fTheta);
+                     self->pTheta, pCon, pCon->runLevel, sNeu.fTheta);
   if (!iRet) {
     return 0;
   }
   iRet = StartDevice(GetExecutor(), self->pTwoTheta->name,
                      self->pTwoTheta->pDescriptor,
-                     self->pTwoTheta, pCon, sNeu.fTwoTheta);
+                     self->pTwoTheta, pCon, pCon->runLevel, sNeu.fTwoTheta);
   if (!iRet) {
     return 0;
   }
@@ -630,7 +630,7 @@ int MonoRun(pSicsSelector self, SConnection * pCon, float fWaveLength)
   if (self->pBend1) {
     iRet = StartDevice(GetExecutor(), self->pBend1->name,
                        self->pBend1->pDescriptor,
-                       self->pBend1, pCon, sNeu.fVert);
+                       self->pBend1, pCon, pCon->runLevel, sNeu.fVert);
     if (!iRet) {
       return 0;
     }
@@ -639,7 +639,7 @@ int MonoRun(pSicsSelector self, SConnection * pCon, float fWaveLength)
   if (self->pBend2) {
     iRet = StartDevice(GetExecutor(), self->pBend2->name,
                        self->pBend2->pDescriptor,
-                       self->pBend2, pCon, sNeu.fHor);
+                       self->pBend2, pCon, pCon->runLevel, sNeu.fHor);
     if (!iRet) {
       return 0;
     }
diff --git a/sicshdbadapter.c b/sicshdbadapter.c
index 0ac612e7..c7207343 100644
--- a/sicshdbadapter.c
+++ b/sicshdbadapter.c
@@ -687,6 +687,11 @@ int SICSHdbAdapter(SConnection * pCon, SicsInterp * pSics, void *pData,
    */
   pMot = (pMotor) FindCommandData(pSics, argv[2], "Motor");
   if (pMot != NULL) {
+	if(pMot->ParArray == NULL){
+		SCWrite(pCon,"ERROR: secong generation motors need to be linked rather then adapted", 
+				eError);
+		return 0;
+	}
     node = CreateMotorAdapter(argv[3], pMot);
     if (node == NULL) {
       SCWrite(pCon, "ERROR: out of memory creating motor node", eError);
diff --git a/sicshipadaba.c b/sicshipadaba.c
index cb7661e7..b87429b2 100644
--- a/sicshipadaba.c
+++ b/sicshipadaba.c
@@ -258,10 +258,10 @@ static hdbCallbackReturn SICSDriveCallback(pHdb node, void *userData,
   assert(pCon != NULL && dum != NULL);
   if (GetHdbProperty(node, "sicsdev", pSicsdev, 79)) {
     status = StartDevice(pServ->pExecutor, pSicsdev, dum->pDescriptor,
-                         userData, pCon, (float) v.v.doubleValue);
+                         userData, pCon, RUNDRIVE, (float) v.v.doubleValue);
   } else {
     status = StartDevice(pServ->pExecutor, node->name, dum->pDescriptor,
-                         userData, pCon, (float) v.v.doubleValue);
+                         userData, pCon, pCon->runLevel, (float) v.v.doubleValue);
   }
   if (status == 1) {
     return hdbContinue;
diff --git a/sicsobj.c b/sicsobj.c
index 8e0addf0..5f5db105 100644
--- a/sicsobj.c
+++ b/sicsobj.c
@@ -52,6 +52,7 @@ static void saveSICSNode(pHdb node, char *prefix, FILE * fd)
       fprintf(fd, "%s %s\n", prefix, GetCharArray(data));
       DeleteDynString(data);
     }
+    ReleaseHdbValue(&v);
     child = node->child;
     while (child != NULL) {
       snprintf(newprefix, 1024, "%s/%s", prefix, child->name);
diff --git a/stdscan.c b/stdscan.c
index 12c0c910..4c9f8d1d 100644
--- a/stdscan.c
+++ b/stdscan.c
@@ -846,9 +846,8 @@ int ScanDrive(pScanData self, int iPoint)
     status = 1;
   }
   /* wait for finish */
-  lTask = GetDevexecID(pServ->pExecutor);
-  if (lTask > 0) {
-    TaskWait(pServ->pTasker, lTask);
+  while(DevExecLevelRunning(pServ->pExecutor, RUNDRIVE)){
+	  TaskYield(pServ->pTasker);
   }
   return status;
 }
@@ -890,17 +889,16 @@ int ScanCount(pScanData self, int iPoint)
   iRet = StartDevice(pServ->pExecutor,
                      "ScanCounter",
                      pDum->pDescriptor,
-                     self->pCounterData, self->pCon, self->fPreset);
+                     self->pCounterData, self->pCon, RUNDRIVE,
+                     self->fPreset);
   if (!iRet) {
     SCWrite(self->pCon, "ERROR: Cannot Count, Scan aborted", eLogError);
     return 0;
   }
   SetStatus(eCounting);
   /* wait for finish */
-  lTask = GetDevexecID(pServ->pExecutor);
-  if (lTask > 0);
-  {
-    TaskWait(pServ->pTasker, lTask);
+  while(DevExecLevelRunning(pServ->pExecutor, RUNDRIVE)){
+	  TaskYield(pServ->pTasker);
   }
   return 1;
 }
diff --git a/tasscanub.c b/tasscanub.c
index df7eaa4b..e204c643 100644
--- a/tasscanub.c
+++ b/tasscanub.c
@@ -646,7 +646,7 @@ static int TASUBScanDrive(pScanData self, int iPoint)
     pVar = (pVarEntry) pPtr;
     if (pVar) {
       StartMotor(pServ->pExecutor, self->pSics, self->pCon, pVar->Name,
-                 pVar->fStart + iPoint * pVar->fStep);
+                 RUNDRIVE, pVar->fStart + iPoint * pVar->fStep);
       /*
          Ignore errors. TAS scans continues when a motor runs into
          a limit.
diff --git a/velo.c b/velo.c
index 9b12f3dd..9b92ae2f 100644
--- a/velo.c
+++ b/velo.c
@@ -516,7 +516,7 @@ int VSSetTiltRot(pVelSel self, SConnection * pCon, float fNewRot,
   if (fDelta > ObVal(self->pPar, TILTPREC)) {   /* yes */
     /* first stop the Rotation of the selector */
     iRet = StartDevice(GetExecutor(), "Velocity Selector Rot",
-                       self->pDes, self, pCon, -10.);
+                       self->pDes, self, pCon, RUNDRIVE, -10.);
     if (!iRet) {
       return 0;
     }
@@ -539,7 +539,7 @@ int VSSetTiltRot(pVelSel self, SConnection * pCon, float fNewRot,
     SCSetRights(pCon, usInternal);
     iRet = StartDevice(GetExecutor(), "Velocity Selector Tilt",
                        self->pTilt->pDescriptor, self->pTilt,
-                       pCon, fNewTilt);
+                       pCon, RUNDRIVE, fNewTilt);
 
     /* wait for this to finish */
     SCWrite(pCon, "Driving tilt-angle", eWarning);
@@ -559,7 +559,7 @@ int VSSetTiltRot(pVelSel self, SConnection * pCon, float fNewRot,
 
   /* drive rotation */
   iRet = StartDevice(GetExecutor(), "Velocity Selector Rot",
-                     self->pDes, self, pCon, fNewRot);
+                     self->pDes, self, pCon, RUNDRIVE, fNewRot);
   if (!iRet) {
     return 0;
   }