- Added Sycamore protocol and command context to SICS

- Added sinfo to SICS
- Added driver for TCP/IP Astrium velocity selector
- Added driver for TCP/IP Astrium chopper controller


SKIPPED:
	psi/amor2t.c
	psi/amorstat.c
	psi/dornier2.c
	psi/ecb.c
	psi/el734hp.c
	psi/fowrite.c
	psi/libpsi.a
	psi/make_gen
	psi/nextrics.c
	psi/pardef.c
	psi/pimotor.c
	psi/pipiezo.c
	psi/polterwrite.c
	psi/psi.c
	psi/scontroller.c
	psi/serial.c
	psi/tasinit.c
	psi/tasscan.c
	psi/tcpdocho.c
	psi/tcpdornier.c
	psi/tricssupport.c
	psi/velodornier.c

nserver.c

@@ -6,11 +6,9 @@
 
 	Mark Koennecke,    October 1996
 	Revised for use with tasker: Mark Koennecke, September 1997
+    Added code to redirect stdout/sterr to file, Mark Koennecke, May 2000
+    Define handler in InitServer to ignore SIGPIPE. Paul Hathaway, May 2004
       
-        Added code to redirect stdout/sterr to file.
-
-        Mark Koennecke, May 2000
-       
 	Copyright: see copyright.h
 ----------------------------------------------------------------------------*/
 #define NEEDDINTINIT
@@ -19,6 +17,7 @@
 #include <assert.h>
 #include <stdio.h>
 #include <sys/types.h>
+#include <signal.h>
 #include <unistd.h>
 #include <time.h>
 #include "sics.h"
@@ -93,6 +92,8 @@
      memset(self,0,sizeof(SicsServer));
      *pServ = self;
 
+    /* define any signal handlers */
+    signal(SIGPIPE,SIG_IGN);
 
      /* configure fortify */
      iFortifyScope = Fortify_EnterScope();
@@ -458,7 +459,7 @@
 /*--------------------------------------------------------------------------
 	UserWait: the user command for waiting, expects one arg:
 	time to wait in seconds
-*/
+---------------------------------------------------------------------------*/
   int UserWait(SConnection *pCon, SicsInterp *pSics, void *pData,
                int argc, char *argv[])
   {
@@ -517,7 +518,7 @@
      }   
   }  
 /*------------------------------------------------------------------------*/
-  int SicsWait(long lTime)
+  int SicsWaitOld(long lTime)
   {
     WaitStruct sWait;
     pTaskMan pTasker = NULL;
@@ -537,7 +538,28 @@
     TaskWait(pTasker,lID);
     return 1;
   }
+/*------------------------------------------------------------------------
+  The new SicsWait is still on probation. It prevents commands to be 
+  executed on the same task on which the Sicswait is acting.
+  M.K. December 2005
+  -------------------------------------------------------------------------*/ 
+  int SicsWait(long lTime)
+  {
+      pTaskMan pTasker = NULL;
+      time_t endTime;
 
+      if(pServ->simMode)
+      {
+	  return 1;
+      }
+      pTasker = GetTasker();
+      endTime = time(NULL) + lTime;
+      while(time(NULL) < endTime) 
+      {
+	  TaskYield(pTasker);
+      }
+      return 1;
+  }
 /*-------------------------------------------------------------------------*/
   void ServerWriteGlobal(char *pMessage,int iOut)
   {