- Fixed various Tcl drivers at startup

- Added a sinqhttp driver for the second generation HM object

tcl/deltatau.tcl

@@ -66,6 +66,10 @@ proc translateAxisError {key} {
 }
 #---------------------------------------------------------------------
 proc evaluateAxisStatus {key} {
+#----- Tcl does not like negative numbers as keys. 
+    if {$key < 0} {
+	set key [expr 50 + abs($key)]
+    }
     switch $key {
 	0 -
 	14 {return idle}
@@ -80,12 +84,12 @@ proc evaluateAxisStatus {key} {
         9 -
         10 -
         11 {return run}
-        -6 {error "Controller aborted"} 
-        -5 {error "Axis is deactivated"}
-	-4 {error "emergency stop activated, please release"}
-	-3 {error "Axis inhibited"}
-	- 1
-	-2 {error "Incoming command is blocked"}
+        56 {error "Controller aborted"} 
+        55 {error "Axis is deactivated"}
+	54 {error "emergency stop activated, please release"}
+	53 {error "Axis inhibited"}
+	51 -
+	52 {error "Incoming command is blocked"}
     }
 }
 #-----------------------------------------------------------------------
@@ -173,7 +177,7 @@ proc pmacsendaxerr {num} {
 proc pmacrcvaxerr {motname num} {
     set status [catch {checkpmacresult} data]
     if {$status != 0} {
-	sct print "ERROR: $data"
+	clientput "ERROR: $data"
 	sct update error
 	sct geterror $data
 	return idle
@@ -182,10 +186,10 @@ proc pmacrcvaxerr {motname num} {
     if {$data != 0 } {
 	set err [translateAxisError $data]
 	if {[string first following $err] >= 0} {
-	    sct print "WARNING: $err"
+	    clientput "WARNING: $err"
 	    sct update poserror
 	} else {
-	    sct print "ERROR: $err"
+	    clientput "ERROR: $err"
 	    sct update error
 	}
 	return idle
@@ -198,7 +202,7 @@ proc pmacrcvaxerr {motname num} {
 proc pmacrcvpos {motname num} {
     set status [catch {checkpmacresult} data]
     if {$status != 0} {
-	sct print "ERROR: $data"
+	clientput "ERROR: $data"
 	sct geterror $data
 	sct update error
 	return idle
@@ -211,7 +215,7 @@ proc pmacrcvpos {motname num} {
 proc pmacrcvstat {motname num sct} {
     set status [catch {checkpmacresult} data]
     if {$status != 0} {
-	sct print "ERROR: $data"
+	clientput "ERROR: $data"
 	sct update error
 	return idle
     } 
@@ -253,7 +257,7 @@ proc pmacsendhardpos {motname num} {
 proc pmacrcvhardpos {num} {
     set status [catch {checkpmacresult} data]
     if {$status != 0} {
-	sct print "ERROR: $data"
+	clientput "ERROR: $data"
 	sct seterror $data
 	return idle
     } 
@@ -264,13 +268,13 @@ proc pmacrcvhardpos {num} {
 proc pmacrcvhardax {motname num sct} {
     set status [catch {checkpmacresult} data]
     if {$status != 0} {
-	sct print "ERROR: $data"
+	clientput "ERROR: $data"
 	sct seterror $data
 	return idle
     } 
     set status [catch {evaluateAxisStatus $data} msg]
     if {$status != 0} {
-	sct print "ERROR: $msg"
+	clientput "ERROR: $msg"
 	sct seterror $msg
 	return idle
     }
@@ -303,6 +307,7 @@ proc pmacrefrun {motorname sct num} {
     $sct send "M${num}=9"
     hupdate /sics/${motorname}/status run
     set motstat run
+    wait 3
     while {[string compare $motstat run] == 0} {
 	$sct queue $path progress read
 	wait 1
@@ -344,6 +349,7 @@ proc MakeDeltaTau {name sct num} {
     set parlist [list scale_factor  hardposition  maxspeed \
 		 commandspeed maxaccel offset axisstatus axiserror status poshwlimitactive \
 		  neghwlimitactive liftaircushion hardlowerlim hardupperlim]
+    $sct send [format "M%2.2d14=0" $num]
     foreach par $parlist {
 	$sct queue /sics/$name/$par progress read
     }