- fixed a anticollider bug

- fixed problems with the synchronization code
- fixed some small TASP problems

tasinit.c

@@ -201,6 +201,43 @@ extern char *tasVariableOrder[] = {
 			    "hconv4",
 			    "polfile",
                             NULL};
+/*-------------------------------------------------------------------
+  Normally SICS does not store motor hardware limits into status files as 
+  they are read from the motor controller. However, in order to better 
+  synchronize simulation and instrument this has to be done for TASP.
+  TasSave does just that: saving hard limits in order for the simulation to
+  be able to read them.
+  ------------------------------------------------------------------------*/ 
+static int TasSaveStatus(void *self, char *name, FILE *fd)
+{
+  int i = 0;
+  pMotor pMot;
+  float value;
+  SConnection *pCon = NULL;
+
+  pCon = SCCreateDummyConnection(pServ->pSics);
+  if(!pCon)
+  {
+    return 0;
+  }
+  while(tasMotorOrder[i] != NULL)
+  {
+    pMot = FindMotor(pServ->pSics,tasMotorOrder[i]);
+    if(pMot)
+    {
+      MotorGetPar(pMot,"hardupperlim",&value);
+      fprintf(fd,"%s hardupperlim %f\n",tasMotorOrder[i], value);
+      MotorGetPar(pMot,"hardlowerlim",&value);
+      fprintf(fd,"%s hardlowerlim %f\n",tasMotorOrder[i], value);
+      MotorGetSoftPosition(pMot,pCon,&value);
+      fprintf(fd,"run %s %f\n",tasMotorOrder[i], value);
+    }
+    i++;
+  }
+  SCDeleteConnection(pCon);
+  fprintf(fd,"success\n");
+  return 1;
+}
 /*---------------------------------------------------------------------
   There is a special feauture in MAD where the count mode is determined
   which variable, MN for monitor od TI for time has been set as the last
@@ -300,6 +337,7 @@ int TASFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
      return 0;
    } 
    pNew->iPOL = -1;
+   pNew->pDes->SaveStatus = TasSaveStatus;
 
    /* connect to all the variables  */
    iPtr = 0; iError = 0;