- Fixed sicsprompt bug. Sicsprompt caused a core dump

- Removed generation of incommenurate reflections for 0,0,0 in fourmess.c
- Implemented a Poch command for heartbeats
- Fixed 64 bit dimension issues in nxdict
- Fixed different calling conventions for NXReportError deep stack in nxdict
- Stopped ei motor driving when not necessary
- Added yet another monitor for POLDI
- Added a protocoll driver for the JVL motor RS-485 binary protocoll
- Fixed some reporting issues


SKIPPED:
	psi/jvlprot.c
	psi/make_gen
	psi/polterwrite.c
	psi/psi.c
	psi/spss7.c

callback.c

@@ -323,10 +323,12 @@ static int ScriptCallback(int iEvent, void *pEventData, void *pUserData)
     return 0;
   }
   if (pUserData == NULL) {
+    SCDeleteConnection(pCon);
     fprintf(stdout, "ERROR: ScriptCallback: no script to execute\n");
     return 0;
   }
   SCSetRights(pCon, usInternal);
+  SCSetWriteFunc(pCon,SCNotWrite);
   status = InterpExecute(pServ->pSics, pCon, (char *) pUserData);
 
   SCDeleteConnection(pCon);

commandlog.c

@@ -26,6 +26,7 @@
 #include <stdio.h>
 #include <time.h>
 #include <tcl.h>
+#include "splitter.h"
 #include "sics.h"
 #include "ifile.h"
 #include "sicsvar.h"
@@ -423,6 +424,16 @@ int CommandLog(SConnection * pCon, SicsInterp * pSics, void *pData,
     PrintTail(iVal, pCon);
     return 1;
   }
+  /**
+   * handle write
+   */
+
+  if (strcmp(argv[1], "write") == 0) {
+    Arg2Text(argc-2, &argv[2],pBueffel,sizeof(pBueffel));
+    WriteToCommandLogId(NULL, pCon->sockHandle,pBueffel);
+    SCSendOK(pCon);
+    return 1;
+  }
 
   /* check rights */
   if (!SCMatchRights(pCon, usMugger)) {

conman.c

@@ -248,6 +248,9 @@ SConnection *SCCreateDummyConnection(SicsInterp * pSics)
   SConnection *pRes = NULL;
 
   pRes = CreateConnection(pSics);
+  if(pRes == NULL){
+    return pServ->dummyCon;
+  }
 
   pRes->sockHandle = -1;
   pRes->iUserRights = usInternal;
@@ -958,12 +961,61 @@ int SCOnlySockWrite(SConnection * self, char *buffer, int iOut)
 /*--------------------------------------------------------------------------*/
 int SCPureSockWrite(SConnection * self, char *buffer, int iOut)
 {
+  char pBueffel[1024];
+  char *pPtr;
+
   /* for commandlog tail */
   if (!VerifyConnection(self)) {
     return 0;
   }
 
-  testAndWriteSocket(self, buffer, iOut);
+  if(self->iProtocolID == 5) {
+    if (strlen(buffer) + 30 > 1024) {
+      pPtr = (char *) malloc((strlen(buffer) + 30) * sizeof(char));
+      memset(pPtr, 0, strlen(buffer) + 20);
+    } else {
+      pPtr = pBueffel;
+    }    
+    sprintf(pPtr, "%d::>%s<::", self->transID, buffer);
+    testAndWriteSocket(self, pPtr, iOut);
+    if(pPtr != pBueffel){
+      free(pPtr);
+    }
+  } else {
+    testAndWriteSocket(self, buffer, iOut);
+  }
+
+  return 1;
+}
+
+/*--------------------------------------------------------------------------
+  special for ClientLog. Do not use elsewhere without check
+  ----------------------------------------------------------------------------*/
+int SCLogWrite(SConnection * self, char *buffer, int iOut)
+{
+  char pBueffel[1024];
+  char *pPtr;
+
+  if (!VerifyConnection(self)) {
+    return 0;
+  }
+  WriteToCommandLogId(NULL, self->sockHandle, buffer);
+
+  if(self->iProtocolID == 5) {
+    if (strlen(buffer) + 30 > 1024) {
+      pPtr = (char *) malloc((strlen(buffer) + 30) * sizeof(char));
+      memset(pPtr, 0, strlen(buffer) + 20);
+    } else {
+      pPtr = pBueffel;
+    }    
+    sprintf(pPtr, "%d::>%s<::", self->transID, buffer);
+    testAndWriteSocket(self, pPtr, iOut);
+    if(pPtr != pBueffel){
+      free(pPtr);
+    }
+  } else {
+    testAndWriteSocket(self, buffer, iOut);
+  }
 
   return 1;
 }
@@ -978,10 +1030,11 @@ int SCNotWrite(SConnection * self, char *buffer, int iOut)
     return 0;
   }
 
-  /* log it for any case */
+  /* log it for any case 
   sprintf(pBueffel, "Next line intended for socket: %d", self->sockHandle);
   SICSLogWrite(pBueffel, eInternal);
   SICSLogWrite(buffer, iOut);
+  */
 
   testAndStoreInTcl(self, buffer, iOut);
   return 1;
@@ -1130,7 +1183,7 @@ int SCWriteZipped(SConnection * self, char *pName, void *pData,
     sprintf(outBuf, "SICSBIN ZIP %s %d %d\r\n", pName,
             compressedLength, cc.transID);
   } else {
-    sprintf(outBuf, "SICSBIN ZIP %s %d \r\n", pName, compressedLength);
+    sprintf(outBuf, "SICSBIN ZIP %s %d\r\n", pName, compressedLength);
   }
   pHeader = strdup(outBuf);
   if (pHeader == NULL) {
@@ -1195,7 +1248,7 @@ int SCWriteBinary(SConnection * self, char *pName, void *pData,
     sprintf(outBuf, "SICSBIN BIN %s %d %d\r\n", pName,
             iDataLen, cc.transID);
   } else {
-    sprintf(outBuf, "SICSBIN BIN %s %d \r\n", pName, iDataLen);
+    sprintf(outBuf, "SICSBIN BIN %s %d\r\n", pName, iDataLen);
   }
   pHeader = strdup(outBuf);
   if (pHeader == NULL) {
@@ -1429,15 +1482,17 @@ int SCPrompt(SConnection * pCon, char *pPrompt, char *pResult, int iLen)
   char pFrom[50];
   Status eOld;
   int oldMode;
+  SConnection *master = NULL;
 
   if (!VerifyConnection(pCon)) {
     return 0;
   }
 
   SCWrite(pCon, pPrompt, eWarning);
+  master = SCfindMaster(pCon);
   eOld = GetStatus();
   SetStatus(eInput);
-  CostaUnlock(pCon->pStack);
+  CostaUnlock(master->pStack);
   while (1) {
     /* 
        wait a second. We want to wait even in a simulation, otherwise
@@ -1454,17 +1509,17 @@ int SCPrompt(SConnection * pCon, char *pPrompt, char *pResult, int iLen)
       break;
     }
     /* do we have data ? */
-    iRet = CostaPop(pCon->pStack, &pPtr);
+    iRet = CostaPop(master->pStack, &pPtr);
     if (iRet == 1) {
       SetStatus(eOld);
-      CostaLock(pCon->pStack);
+      CostaLock(master->pStack);
       strlcpy(pResult, pPtr, iLen);
       WriteToCommandLogId(" prompted>", pCon->sockHandle, pPtr);
       return 1;
     }
   }
   SetStatus(eOld);
-  CostaLock(pCon->pStack);
+  CostaLock(master->pStack);
   return 0;
 }
 
@@ -1560,7 +1615,9 @@ int SCInvoke(SConnection * self, SicsInterp * pInter, char *pCommand)
     if (SCGetWriteFunc(self) != SCNotWrite) {
       sendingConnection = self->sockHandle;
       if (self->sockHandle >= 0) {
-        WriteToCommandLogCmd(self->sockHandle, pCommand);
+	if(strstr(pCommand,"Poch") == NULL){
+	  WriteToCommandLogCmd(self->sockHandle, pCommand);
+	}
       } else {
         WriteToCommandLog("CRON>>", pCommand);
       }

conman.h

@@ -106,6 +106,7 @@ writeFunc SCGetWriteFunc(SConnection * pCon);
 void SCSetWriteFunc(SConnection * pCon, writeFunc x);
 int SCOnlySockWrite(SConnection * self, char *buffer, int iOut);
 int SCPureSockWrite(SConnection * self, char *buffer, int iOut);
+int SCLogWrite(SConnection * self, char *buffer, int iOut);
 int SCFileWrite(SConnection * self, char *buffer, int iOut);
 int SCNotWrite(SConnection * self, char *buffer, int iOut);
 int SCNormalWrite(SConnection * self, char *buffer, int iOut);

counter.c

@@ -241,7 +241,7 @@ static int CheckCountStatus(void *pData, SConnection * pCon)
 
   if(self->pDriv->fTime > .0){
 	  rate = (float)(self->pDriv->lCounts[1])/self->pDriv->fTime;
-	  if(rate > 5000){
+	  if(rate > 10000){
 		  SCWrite(pCon,"WARNING: Your control monitor is running into dead time",
 				  eWarning);
 	  }

drive.c

@@ -103,7 +103,7 @@ int Drive(SConnection * pCon, SicsInterp * pInter, char *name, float fNew)
   if (pInt) {
     iRet = pInt->CheckLimits(pDum, fNew, pBueffel, 511);
     if (!iRet) {
-      SCWrite(pCon, pBueffel, eError);
+      SCWrite(pCon, pBueffel, eLogError);
       SCSetInterrupt(pCon, eAbortOperation);
       return 0;
     }

fourmess.c

@@ -40,6 +40,7 @@ extern char *trim(char *);
 
 extern void SNXFormatTime(char *pBueffel, int iLen);
 
+#define ABS(x) (x < 0 ? -(x) : (x))
 /*---------------------------------------------------------------------------*/
 typedef struct {
   FILE *profFile;               /* file with reflection profiles, ccl */
@@ -765,7 +766,13 @@ static int GenInconsumerate(pSICSOBJ self, SConnection * pCon,
   qvec[2] = par[2]->value.v.doubleValue;
 
   for (i = 0; i < priv->masterCount; i++) {
-	GetRefIndex(priv->messList, i, hkl);
+    GetRefIndex(priv->messList, i, hkl);
+    if(ABS(hkl[0])+ABS(hkl[1])+ABS(hkl[2]) < .3){
+      /* 
+       * Stop generation for 0,0,0,
+       */
+      continue;
+    }
     for (j = 0; j < 3; j++) {
       hkl[j] += qvec[j];
     }

macro.c

@@ -728,7 +728,52 @@ int ClientPut(SConnection * pCon, SicsInterp * pInter, void *pData,
   }
   return 1;
 }
+/*-----------------------------------------------------------------
+ ClientLog writes to the socket and the command log only
+ -------------------------------------------------------------------*/
+int ClientLog(SConnection * pCon, SicsInterp * pInter, void *pData,
+              int argc, char *argv[])
+{
+  OutCode eOut = eLog;
+  int i = 0, iLen;
+  char *pMessage = NULL;
 
+  assert(pCon);
+  assert(pInter);
+
+  if (argc < 2) {
+    SCWrite(pCon, "Insufficient arguments to ClientLog", eError);
+    return 0;
+  }
+  
+
+  /* recombine the message */
+  /* find length */
+  iLen = 0;
+  for (i = 1; i < argc; i++) {
+    iLen += strlen(argv[i]);
+  }
+  pMessage = (char *) malloc((iLen + 100) * sizeof(char));
+  if (!pMessage) {
+    SCWrite(pCon, "ERROR: out of memory in clientlo", eLogError);
+    return 0;
+  }
+  memset(pMessage, 0, (iLen + 100) * sizeof(char));
+  Arg2Text(argc - 1, &argv[1], pMessage, (iLen + 100) * sizeof(char));
+
+  SCLogWrite(pCon,pMessage, eError);
+  free(pMessage);
+  return 1;
+}
+/*-----------------------------------------------------------------------
+ A heartbeat command .............
+ ------------------------------------------------------------------------*/
+int Poch(SConnection * pCon, SicsInterp * pInter, void *pData,
+              int argc, char *argv[])
+{
+  SCPureSockWrite(pCon,"Poch", eLog);
+  return 1;
+}
 /*-----------------------------------------------------------------------*/
 int GumPut(SConnection * pCon, SicsInterp * pInter, void *pData,
            int argc, char *argv[])

motor.h

@@ -37,6 +37,7 @@ typedef struct __Motor {
   int retryCount;               /* for retries in status */
   int posFaultCount;
   int stopped;
+  int stopReported;
   int errorCount;
   int running;
   ObPar *ParArray;

motorsec.c

@@ -105,7 +105,8 @@ static long SecMotorRun(void *sulf, SConnection * pCon, float fNew)
 	  return 0;
   }
   self->stopped = 0;
-  
+  self->stopReported = 0;
+
   v = MakeHdbFloat(fNew);
   status = SetHipadabaPar(self->pDescriptor->parNode, v, pCon);
   node = GetHipadabaNode(self->pDescriptor->parNode, "status");
@@ -211,7 +212,10 @@ static int checkPosition(pMotor self, SConnection * pCon)
   pHdb node = NULL;
 
   if (self->stopped) {
-    SCPrintf(pCon, eWarning, "WARNING: %s stopped", self->name);
+    if(self->stopReported == 0){
+      SCPrintf(pCon, eLog, "WARNING: %s stopped", self->name);
+      self->stopReported = 1;
+    }
     return HWFault;
   }
   if (SCGetInterrupt(pCon) != eContinue) {

nxdict.c

@@ -553,7 +553,7 @@ typedef struct {
   int iTerminal;
 } ParDat;
 
-static void DummyError(void *pData, char *pError)
+static void DummyError(void *p, char *pError)
 {
   return;
 }
@@ -720,9 +720,9 @@ static void NXDIAttValue(ParDat * sStat)
 int NXDIParsePath(NXhandle hfil, ParDat * pParse)
 {
   int iRet, iToken;
-  void (*ErrFunc) (void *pData, char *pErr);
   char pName[132], pClass[132];
   char pError[256];
+  void *pData = NULL;
 
   /* get the name */
   NXDIDefToken(pParse);         /* next token */
@@ -760,12 +760,11 @@ int NXDIParsePath(NXhandle hfil, ParDat * pParse)
   strcpy(pClass, pParse->pToken);
 
   /* done reading, ACTION, first install dummy error handler */
-  ErrFunc = NXIReportError;
+  NXMDisableErrorReporting();
-  NXMSetError(NXpData,DummyError);
 
   /* try opening vGroup */
   iRet = NXopengroup(hfil, pName, pClass);
-  NXMSetError(NXpData,ErrFunc);
+  NXMEnableErrorReporting();
   if (iRet == NX_OK) {
     pParse->iDepth++;
     return NX_OK;
@@ -960,7 +959,6 @@ static int NXDIParseSDS(NXhandle hfil, ParDat * pParse)
   int iRet, iStat, i;
   char pError[256];
   char pName[NX_MAXNAMELEN];
-  void (*ErrFunc) (void *pData, char *pErr);
   AttItem sAtt;
 
 
@@ -1061,12 +1059,11 @@ static int NXDIParseSDS(NXhandle hfil, ParDat * pParse)
   /* first install dummy error handler, try open it, then
      deinstall again and create if allowed 
    */
-  ErrFunc = NXIReportError;
+  NXMDisableErrorReporting();
-  NXMSetError(NXpData, DummyError);
 
   /* try opening SDS */
   iRet = NXopendata(hfil, pName);
-  NXMSetError(NXpData, ErrFunc);
+  NXMEnableErrorReporting();
   if (iRet == NX_OK) {
     LLDdelete(iList);
     return NX_OK;
@@ -1687,16 +1684,15 @@ NXstatus NXUwriteglobals(NXhandle pFile,
 /*-----------------------------------------------------------------------*/
 NXstatus NXUentergroup(NXhandle hFil, char *name, char *class)
 {
-  void (*ErrFunc) (void *pData, char *pErr);
   int iRet;
 
   /* ACTION, first install dummy error handler */
-  ErrFunc = NXIReportError;
+  NXMDisableErrorReporting();
-  NXMSetError(NXpData, DummyError);
+
 
   /* try opening vGroup */
   iRet = NXopengroup(hFil, name, class);
-  NXMSetError(NXpData, ErrFunc);
+  NXMEnableErrorReporting();
   if (iRet == NX_OK) {
     return NX_OK;
   } else {
@@ -1719,16 +1715,14 @@ NXstatus NXUentergroup(NXhandle hFil, char *name, char *class)
 NXstatus NXUenterdata(NXhandle hFil, char *label, int datatype,
                       int rank, int dim[], char *pUnits)
 {
-  void (*ErrFunc) (void *pData, char *pErr);
   int iRet;
 
   /* ACTION, first install dummy error handler */
-  ErrFunc = NXIReportError;
+  NXMDisableErrorReporting();
-  NXMSetError(NXpData, DummyError);
 
   /* try opening SDS */
   iRet = NXopendata(hFil, label);
-  NXMSetError(NXpData, ErrFunc);
+  NXMEnableErrorReporting();
   if (iRet == NX_OK) {
     return NX_OK;
   } else {

ofac.c

@@ -68,6 +68,8 @@ static void InitIniCommands(SicsInterp * pInter)
   PCMD("broadcast",             Broadcast);
   PCMD("Capture",               CaptureAction);
   PCMD("ClientPut",             ClientPut);
+  PCMD("ClientLog",             ClientLog);
+  PCMD("Poch",                  Poch);
   PCMD("config",                ConfigCon);
   PCMD("db",                    SICSDebug);
   PCMD("Dir",                   ListObjects);

scriptcontext.c

@@ -210,7 +210,7 @@ int SctCommand(SConnection * con, SicsInterp * sics, void *object,
       SCsetMacro(con, queueData->inMacro); /* take macro flag stored at set callback */
     }
     Arg2Text(argc - 2, argv + 2, value, sizeof value);
-    SCWrite(con, value, eWarning);
+    SCWrite(con, value, eLog);
     SCsetMacro(con, 1); /* we are always in Macro */
     return 1;
   }
@@ -469,7 +469,7 @@ static char *SctActionHandler(void *actionData, char *lastReply,
       emsg = GetHdbProp(node, eprop);
       if (emsg == NULL || con != controller->conn) {
         GetHdbPath(node, path, sizeof path);
-        SCPrintf(con, eError,
+        SCPrintf(con, eLogError,
                  "ERROR: action {%s} in {%s} node %s:\nERROR:   %s",
                  data->name, origScript, path, result);
  	   if(data != NULL && data->controller != NULL){

sicsdata.c

@@ -818,7 +818,7 @@ static int copyNode(pSICSData self, int argc, char *argv[],
 	  return 0;
   }
   
-  if(argc < 2){
+  if(argc > 2){
 	status = Tcl_GetInt(InterpGetTcl(pSics), argv[2], &length);
 	if (status != TCL_OK) {
 		SCWrite(pCon,
@@ -827,6 +827,8 @@ static int copyNode(pSICSData self, int argc, char *argv[],
 	} else {
 		length = node->value.arrayLength;
 	}
+  } else {
+	length = node->value.arrayLength;
   }
   if(length < 1) {
 	  length = 1;

sicshipadaba.c

@@ -3094,10 +3094,12 @@ static hdbCallbackReturn ChainCallback(pHdb node, void *userData,
   }
 
   if (slave != NULL) {
+    /*
     memset(&vv, 0, sizeof(hdbValue));
     GetHipadabaPar(slave, &vv, mm->callData);
-    UpdateHipadabaPar(slave, vv, mm->callData);
+    */
-    ReleaseHdbValue(&vv);
+    UpdateHipadabaPar(slave, *(mm->v), mm->callData);
+    /* ReleaseHdbValue(&vv); */
   }
   return hdbContinue;
 }

stdscan.c

@@ -563,12 +563,9 @@ int prepareDataFile(pScanData self)
 
   pTcl = InterpGetTcl(pServ->pSics);
   val = Tcl_GetVar(pTcl,"simMode",TCL_GLOBAL_ONLY);
-  if(val != NULL){
+  if(val != NULL && strstr(val,"2") != NULL){
-	  if(strstr(val,"2") != NULL){
+         pPtr = strdup("sicssim.scn");
-		  pPtr = strdup("sicssim.scn");
-	  }
   } else {
-
 	  /* allocate a new data file */
 	  pPtr = ScanMakeFileName(pServ->pSics, self->pCon);
 	  if (!pPtr) {

tasdrive.c

@@ -40,6 +40,8 @@ static long TASSetValue(void *pData, SConnection * pCon, float value)
 {
   ptasMot self = (ptasMot) pData;
   assert(self);
+  int qcodes[] = {3,4,5,8}; /* qh,qk,ql, en */
+  int i;
 
   if (self->code > 5 && self->math->tasMode == ELASTIC) {
     SCWrite(pCon, "ERROR: cannot drive this motor in elastic mode",
@@ -48,6 +50,11 @@ static long TASSetValue(void *pData, SConnection * pCon, float value)
   }
   setTasPar(&self->math->target, self->math->tasMode, self->code, value);
   self->math->mustDrive = 1;
+  for(i = 0; i < 4; i++){
+    if(self->code == qcodes[i]) {
+      self->math->mustDriveQ = 1;
+    }
+  }
   return OKOK;
 }
 
@@ -525,16 +532,25 @@ static int calculateAndDrive(ptasMot self, SConnection * pCon)
     driveTilt = 0;
   }
 
+  if(self->math->mustDriveQ == 0){
+    driveQ = 0;
+  } 
+
+
   if (driveQ != 0) {
     if (!checkQMotorLimits(self, pCon, angles, driveTilt)) {
       driveQ = 0;
     }
   }
 
-  if (driveQ == 0) {
+  if (driveQ == 0 && self->math->mustDriveQ == 1) {
     SCWrite(pCon, "WARNING: NOT driving Q-vector because of errors",
             eError);
   }
+  /* 
+   * reset the Q flag
+   */
+  self->math->mustDriveQ = 0;
   return startMotors(self, angles, pCon, driveQ, driveTilt);
 }
 

tasscanub.c

@@ -656,6 +656,7 @@ static int TASUBScanDrive(pScanData self, int iPoint)
   int i, status, iPtr;
   int iTAS = 0;
   pMotor pMot;
+  pDynString err;
 
   pTAS->ub->silent = 1;
   /*
@@ -665,7 +666,7 @@ static int TASUBScanDrive(pScanData self, int iPoint)
     DynarGet(self->pScanVar, i, &pPtr);
     pVar = (pVarEntry) pPtr;
     if (pVar) {
-      StartMotor(pServ->pExecutor, self->pSics, self->pCon, pVar->Name,
+      status = StartMotor(pServ->pExecutor, self->pSics, self->pCon, pVar->Name,
                  RUNDRIVE, pVar->fStart + iPoint * pVar->fStep);
       /*
          Ignore errors. TAS scans continues when a motor runs into

tasub.h

@@ -27,6 +27,7 @@
                 double targetEn, actualEn;
                 int mustRecalculate;
                 int mustDrive; 
+                int mustDriveQ;
                 pMotor motors[12];
                 tasReflection r1, r2;
                 int ubValid;

test/sicsstat.tcl

@@ -1,3 +1,4 @@
+
 exe batchpath ./
 exe syspath ./
 
@@ -218,15 +219,20 @@ tasub r2   0.00   0.00   0.00   0.00   0.00   0.00   0.00   0.00   0.00
 tasub update
 #----- MultiMotor sa
 sa recovernampos noeff  a3 24 a4 48
+
+
+
+
+
 ref anglesheader stt,om,chi,phi
 ref clear
-singlex cell  0 0 0 0 0 0
+singlex cell { 0 0 0 0 0 0}
-singlex oldub  0 0 0 0 0 0 0 0 0
+singlex oldub { 0 0 0 0 0 0 0 0 0}
-singlex ub  0 0 0 0 0 0 0 0 0
+singlex ub { 0 0 0 0 0 0 0 0 0}
-singlex planenormal  0 0 0
+singlex planenormal { 0 0 0}
 singlex mode bi
 singlex spacegroup P
-singlex peaksearch 
+singlex peaksearch {}
 singlex peaksearch/min2t 5
 singlex peaksearch/step2t 1
 singlex peaksearch/max2t 15
@@ -238,6 +244,7 @@ singlex peaksearch/phimin 0
 singlex peaksearch/phimax 180
 singlex peaksearch/chimin 90
 singlex peaksearch/chimax 180
+
 #HKL Settings
 hkl scantolerance 2.500000
 ubcalcint difftheta  0.300000
@@ -249,13 +256,32 @@ messref clear
 fmess weak 0
 fmess weakthreshold 20
 fmess fast 0
-fmess hkllim  -10 -10 10 10 10 10
+fmess hkllim { -10 -10 10 10 10 10}
-fmess sttlim  5 180
+fmess sttlim { 5 180}
+
 fmess table clear
-cone target  0 0 0
+cone target { 0 0 0}
 cone qscale 1
 cone center unknown
+
 simidx sttlim 0.2
 simidx anglim 0.5
+
 simi preset 0
 simi mode monitor
+
+
+nano targetposition -50
+nano sign 1
+nano softzero 0
+nano softlowerlim -10000
+nano softupperlim 10000
+nano fixed -1
+nano interruptmode 0
+nano precision 0.01
+nano accesscode 2
+nano failafter 3
+nano maxretry 3
+nano ignorefault 0
+nano movecount 10
+

test/testini.tcl

@@ -797,3 +797,21 @@ source ../sim/poldi_sics/zug.tcl
 
 #MakeSPSS7 s7 203 251 129.129.195.55:2005 
 #MakeSPSS7 s7 203 251 localhost:8090 
+
+set jvl 0
+
+if {$jvl == 1} {
+source ../sim/boa_sics/jvl.tcl
+makesctcontroller jvlsct jvl localhost:8080
+jvlsct debug -1
+jvl::make ja 2 jvlsct -10000 10000 120
+}
+
+set nanotec 1
+
+if {$nanotec == 1} {
+source ../sim/boa_sics/nanotec.tcl
+makesctcontroller nanosct std localhost:8080 \r 1 \r
+nanosct debug -1
+nanotec::make nano 1 nanosct -100000 100000 120
+}