- 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

sycFormat.tcl

@@ -0,0 +1,91 @@
+#----------------------------------------------------------------------------
+# Implements sycFormat which is needed by the sycamore protocol.
+# Deobjectified version of the ANSTO original
+#
+# Original Implementor: Paul Hathaway, Ferdi Francescini
+#
+# More bugs introduced by: Mark Koennecke
+#-------------------------------------------------------------------------
+
+if { [info exists sycinit] == 0 } {
+  set sycinit 1
+  Publish sycformat Spy
+}
+
+  array set statusMap [ list  OKOK        "ok" \
+                              HWIdle      "idle" \
+                              HWBusy      "running" \
+                              HWFault     "fault" \
+                              HWPosFault  "posfault" \
+                              HWCrash     "crash" \
+                              NOMEMORY    "nomemory" \
+                              HWNoBeam    "nobeam" \
+                              HWPause     "pause" \
+                              HWWarn      "warn" \
+                              HWRedo      "redo" ]
+
+
+  # 'tag' and 'msgString' parameters must be passed within braces
+  # eg sycFormat con0004 t000005 s1 event  {s1} {type.position status.HWBusy}
+  proc sycformat {connID transID devID msgFlag tag msgString} {
+    global statusMap cache
+
+    set fullmatch ""; set msg ""; set eventType ""; set status ""
+    set position ""
+
+    proc _prefix {flag} {
+	upvar connID cID transID tID devID dID
+	return "\[$cID:$tID:$dID:$flag\]"
+    }
+      
+    regexp {<(.*)>} $msgString match msg
+    regexp {type\.(\w*)} $msgString match eventType
+    regexp {status\.(\w*)} $msgString match status
+
+  # Skip useless messages
+  if {[string first "Parameter Listing for motor" $msgString] > -1} {
+    return ""
+  }
+   
+    switch $msgFlag {
+      "start" {
+        set output "[_prefix start] $msgString"
+        
+      }
+      "event" {
+        switch $eventType {
+          "POSITION" {
+            regexp {(\w+)\.position *= *(\d+(?:\.\d+)?)} $msgString match device position
+            set output "[_prefix event] $tag={type=$eventType,$devID.position=$position}"
+          }
+          default {
+            # Error
+          }
+        }
+      }
+      "out" {
+        # Concatenate multiple messages into a comma separated list
+        if [info exists cache($transID)] {
+          append msg ", " $msgString
+          eval "lappend cache($transID) $msg"
+        } else {
+          eval "lappend cache($transID) $msgString"
+        }
+        set output ""
+      }
+      "finish" {
+        if [info exists cache($transID)] {
+          set output "[_prefix out] $tag=\{$cache($transID)\}"
+          append output "\n[_prefix finish]"
+          unset cache($transID)
+        } else {
+          set output "[_prefix finish]"
+        }
+      }
+      default {
+        set output "[_prefix $msgFlag] $msgString"
+      }
+    }
+    return $output
+  }
+