- Fixed prolem wit core dump from commandlog

- Added fulltransact which sends a TRANSACTIONSTART meesage in addition to
  TRANSASCTIONFINISHED
- Added parameter to motor which allows to ignore positioning faults
- ADDED POLAN support to tasscan


SKIPPED:
	psi/dornier2.c
	psi/el734hp.c
	psi/tasdrive.c
	psi/tasscan.c
	psi/tdchm.c

commandlog.c

@@ -162,7 +162,7 @@
        for(i = 0; i < iNum; i++)
        {
           pPtr = (char *)getCircular(pTail);
-          if(pCon->pSock)
+          if(pCon->pSock && pPtr != NULL)
 	  {
              TelnetWrite(pCon->pSock, pPtr);
           }

conman.c

@@ -545,6 +545,13 @@ extern pServer pServ;
       {
         return 0;
       }
+      /*
+	Do not die if no data
+      */
+      if(pBuffer == NULL)
+      {
+	return 0;
+      }
       return self->write(self,pBuffer,iOut);
   }
 /*-------------------------------------------------------------------------*/

drive.c

@@ -6,7 +6,6 @@
 
 	Mark Koennecke,    December 1996
 
-	Copyright:
 
 	Labor fuer Neutronenstreuung
 	Paul Scherrer Institut

macro.c

@@ -864,10 +864,15 @@
  int TransactAction(SConnection *pCon, SicsInterp *pSics, void *pData, 
                 int argc, char *argv[])
  {
-    char pCommand[1024];
+    char pCommand[1024], pStart[1024];
     int iRet;
 
     Arg2Text(argc-1,&argv[1],pCommand,1023);
+    strtolower(argv[0]);
+    if(strcmp(argv[0],"fulltransact") == 0){
+      snprintf(pStart,1024,"TRANSACTIONSTART %s",pCommand);
+      SCWrite(pCon,pStart,eError);
+    }
     iRet = InterpExecute(pSics,pCon,pCommand);
     SicsWait(1);      
     SCWrite(pCon,"TRANSACTIONFINISHED",eError);

motor.c

@@ -75,6 +75,7 @@
 #define SIGN    10
 #define ECOUNT  11
 #define POSCOUNT 12
+#define IGNOREFAULT 13
 /*------------------------------------------------------------------------
    a tiny structure used in CallBack work
 */
@@ -223,8 +224,18 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
          SCWrite(pCon,pBueffel, eWarning);                    
          MotorInterrupt(pCon,ObVal(self->ParArray,INT));
          self->retryCount = 0;
+	 /*
+	   suppress HWPosFaults when ignore flag set
+	 */
+	 if(ObVal(self->ParArray,IGNOREFAULT) > 0)
+	 {
+	   return HWIdle;
+	 }
+	 else
+	 {
 	   return HWPosFault;
          }
+       }
        self->retryCount = 0;
        return HWIdle;  
      }
@@ -273,13 +284,27 @@ static int evaluateStatus(pMotor self, SConnection *pCon)
        }
        else if(iRet == MOTREDO)
        {
+	 /*
+	   abort if to many positioning faults
+	 */
          self->posFaultCount++;
          if(self->posFaultCount >= 4)
          {
            self->posFaultCount = 0;
            self->retryCount = 0;
+	   /*
+	     do not do pass on positioning fault errors when the
+	     appropriate flag has been set
+	   */
+	   if(ObVal(self->ParArray,IGNOREFAULT) > 0)
+	   {
+	     return HWIdle;
+           }
+	   else 
+	   {
 	     return HWPosFault;
            }
+         }
          self->pDriver->RunTo(self->pDriver,self->fTarget);
          return HWBusy;
        }
@@ -328,147 +353,6 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
      }
      return status;
   }
-/*--------------------------------------------------------------------------
-  Refactor
-  --------------------------------------------------------------------------*/
-  static int MotorStatus2(void *sulf, SConnection *pCon)
-  {
-     float fHard;
-     pMotor self;
-     int iRet,i, iCode;
-     char pError[132];
-     char pBueffel[256];
-     static int iPosFault = 0, iRetry = 0;
-     MotCallback sCall;
-     
-     
-     assert(sulf);
-     
-     self = (pMotor)sulf;
-
-     iRet = self->pDriver->GetStatus(self->pDriver);
-     fHard = MotorGetValue((void *)self,pCon);
-     if(fHard < -9999990)
-     {
-        self->pDriver->GetError(self->pDriver,&iCode, pError,131);
-        iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
-        if(iRet == MOTFAIL)
-        {
-               sprintf(pBueffel,"WARNING: %s on %s",pError,self->name);
-               SCWrite(pCon,pBueffel,eError);
-               MotorInterrupt(pCon,ObVal(self->ParArray,INT));
-               iRetry = 0;
-               return HWFault;
-        }
-        else if(iRet == MOTREDO)
-        {
-           iRetry++;
-           if(iRetry >= 3)
-           {
-              iRetry = 0;
-              return HWFault;
-           }
-        }
-        else
-        {
-             iRetry = 0;
-             return HWBusy;
-        }  
-     }      
-
-     /* invoke callback  */
-     sCall.fVal = fHard;
-     sCall.pName = self->name;
-     InvokeCallBack(self->pCall, MOTDRIVE, &sCall);
-   
-  /* motor thinks he is done */  
-     if( (iRet == OKOK) || (iRet == HWIdle)) 
-     {
-          MotorGetSoftPosition(self,pCon,&sCall.fVal);
-          InvokeCallBack(self->pCall, MOTEND, &sCall);
-          self->fPosition = fHard;
-          if(absf(fHard - self->fTarget) > ObVal(self->ParArray,PREC))
-          {
-            sprintf(pBueffel,"WARNING: %s off position by %f",
-                    self->name, absf(fHard - self->fTarget));
-            SCWrite(pCon,pBueffel, eWarning);                    
-            MotorInterrupt(pCon,ObVal(self->ParArray,INT));
-            iRetry = 0;
-            return HWPosFault;
-          }
-          iRetry = 0;
-          return HWIdle;  
-     }
-   /* motor suggests a fault */  
-     else if(iRet == HWFault)
-     {
-       self->pDriver->GetError(self->pDriver,&iCode, pError,131);
-       iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
-       if(iRet == MOTFAIL)
-       {
-         sprintf(pBueffel,"ERROR: %s on %s",pError,self->name);
-         SCWrite(pCon,pBueffel,eError);
-         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
-         iRetry = 0;
-         return HWFault;
-       }
-       else if(iRet == MOTREDO)
-       {
-         self->pDriver->RunTo(self->pDriver,self->fTarget);
-         iRetry++;
-         if(iRetry >= 3)
-         {
-            iRetry = 0;
-            return HWFault;
-         }
-         return HWBusy;
-       }
-       else
-       {
-         iRetry = 0;
-         return HWBusy;
-       }  
-     } 
-   /* a positioning fault */  
-     else if(iRet == HWPosFault)
-     {
-       self->pDriver->GetError(self->pDriver,&iCode, pError,131);
-       iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
-       if(iRet == MOTFAIL)
-       {
-         sprintf(pBueffel,"ERROR: %s on %s",pError,self->name);
-         SCWrite(pCon,pBueffel,eError);
-         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
-         iRetry = 0;
-         return HWFault;
-       }
-       else if(iRet == MOTREDO)
-       {
-         iPosFault++;
-         if(iPosFault == 2)
-         {
-           iPosFault = 0;
-           iRetry = 0;
-           return HWPosFault;
-         }
-         self->pDriver->RunTo(self->pDriver,self->fTarget);
-         return HWBusy;
-       }
-       else
-       {
-         return HWBusy;
-       }  
-     }
-     else if(iRet == HWWarn)
-     {
-        self->pDriver->GetError(self->pDriver,&iCode,pError,131);
-        sprintf(pBueffel,"WARNING: %s on %s",pError,self->name);
-        SCWrite(pCon,pBueffel,eStatus);
-        return HWIdle;
-     }
-     iRetry = 0;
-     return iRet;
-  }
 /*---------------------------------------------------------------------------*/  pMotor MotorInit(char *drivername, char *name, MotorDriver *pDriv)
   {
     pMotor pM =  NULL;
@@ -486,7 +370,7 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
     
     
     /* create and initialize parameters */
-    pM->ParArray = ObParCreate(13);
+    pM->ParArray = ObParCreate(14);
     if(!pM->ParArray)
     {
        free(pM);
@@ -505,6 +389,7 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
     ObParInit(pM->ParArray,SIGN,"sign",1.0,usMugger);
     ObParInit(pM->ParArray,ECOUNT,"failafter",3.0,usMugger);
     ObParInit(pM->ParArray,POSCOUNT,"poscount",20.0,usMugger);
+    ObParInit(pM->ParArray,IGNOREFAULT,"ignorefault",0.0,usMugger);
     pDriv->GetPosition(pDriv,&(pM->fPosition));
     pM->fTarget = pM->fPosition;
     pM->endScriptID = 0;
@@ -813,6 +698,15 @@ extern void KillPiPiezo(void *pData);
       return 0;  
     }
     
+    /* check if the bad motor flag is set */
+    if((int)ObVal(self->ParArray,IGNOREFAULT) > 0)
+    {
+      snprintf(pBueffel,511,"WARNING: motor %s is unreliable",
+	       self->name);
+      SCWrite(pCon,pBueffel,eWarning);
+      self->pDrivInt->iErrorCount = 0;
+    }
+
     /* check our error count and interrupt if to much */
     iCode = (int)ObVal(self->ParArray,ECOUNT);
     if(self->pDrivInt->iErrorCount > iCode)

ofac.c

@@ -196,6 +196,7 @@
      AddCommand(pInter,"ClientPut",ClientPut,NULL,NULL);
      AddCommand(pInter,"broadcast",Broadcast,NULL,NULL);
      AddCommand(pInter,"transact",TransactAction,NULL,NULL);
+     AddCommand(pInter,"fulltransact",TransactAction,NULL,NULL);
      AddCommand(pInter,"sicsprompt", SicsPrompt,NULL,NULL);
      AddCommand(pInter,"Publish",TclPublish,NULL,NULL);
      AddCommand(pInter,"GetLog",  LogCapture,NULL,NULL);

scan.c

@@ -1235,6 +1235,7 @@ int StoreScanCounts(pScanData self, char *data)
            case eContinue:
                          break;
            case eAbortOperation:
+	                 SCSetInterrupt(self->pCon,eContinue);
                          continue;
                          break;
            case eAbortScan: