From f7abbe6aa5119e27e1db3822ceaf0b53aefec9d6 Mon Sep 17 00:00:00 2001
From: cvs <cvs>
Date: Tue, 8 Jul 2003 13:26:53 +0000
Subject: [PATCH] - New drivers for EL737 and EL734 high performance - Changes
 to makefiles

SKIPPED:
	psi/dornier2.c
	psi/el734hp.c
	psi/el737driv.c
	psi/el737hpdriv.c
	psi/make_gen
	psi/makefile_alpha
	psi/psi.c
	psi/velodorn.c
	psi/velodorn.h
	psi/velodorn.w
	psi/hardsup/el737_utility.c
	psi/hardsup/makefile_alpha
	psi/tecs/makefile_alpha
---
 alpha_def             |  15 +++
 counter.c             |   2 +-
 danu.dat              |   2 +-
 makefile_alpha        |   9 +-
 matrix/makefile_alpha |   5 +-
 motor.c               | 142 +++++++++++++++++++++++++++-
 motor.h               |   4 +
 network.c             |  11 ++-
 nread.c               |   4 +-
 nserver.c             |   4 +-
 rs232controller.c     | 149 +++++++++++++++++++++++++++---
 rs232controller.h     |  18 ++++
 rs232controller.w     |  28 ++++++
 sicsstatus.tcl        | 209 +++++++++++++++++++++---------------------
 test.tcl              |   7 +-
 velo.c                |   3 +-
 viscom.tcl            |   4 +-
 17 files changed, 473 insertions(+), 143 deletions(-)
 create mode 100644 alpha_def

diff --git a/alpha_def b/alpha_def
new file mode 100644
index 00000000..7a166bfa
--- /dev/null
+++ b/alpha_def
@@ -0,0 +1,15 @@
+#------------------------------------------------------------------------
+# Some defines used further up in the makefile hierarchy of the PSI SICS
+# universe.
+#-------------------------------------------------------------------------
+
+#==========================================================================
+# the following lines only for fortified version
+#DFORTIFY=-DFORTIFY
+#FORTIFYOBJ=strdup.o fortify.o
+
+#----------------select proper Makefile
+MFLAGS= -f makefile_alpha
+
+#------------- path to HDF installation
+HDFROOT=/data/lnslib
diff --git a/counter.c b/counter.c
index ff2dc4d1..1bc2bb22 100644
--- a/counter.c
+++ b/counter.c
@@ -5,7 +5,7 @@
     The SICS Interface to a single detector and his associated 
     monitors.
 
-
+ 
     Mark Koennecke,    January 1997
 
     Copyright:
diff --git a/danu.dat b/danu.dat
index d53f5012..ee01ca8c 100644
--- a/danu.dat
+++ b/danu.dat
@@ -1,3 +1,3 @@
- 288 
+ 290 
 NEVER, EVER modify or delete this file
 You'll risk eternal damnation and a reincarnation as a cockroach!|n
\ No newline at end of file
diff --git a/makefile_alpha b/makefile_alpha
index 46c25b57..183ff52c 100644
--- a/makefile_alpha
+++ b/makefile_alpha
@@ -5,10 +5,6 @@
 # Mark Koennecke 1996-2001
 # Markus Zolliker, March 2003
 #==========================================================================
-# the following lines only for fortified version
-#DFORTIFY=-DFORTIFY
-#FORTIFYOBJ=strdup.o fortify.o
-#==========================================================================
 # assign if the National Instrument GPIB driver is available
 #NI= -DHAVENI
 #NIOBJ= nigpib.o
@@ -22,10 +18,7 @@
 #DIFIL= difrac.o
 #---------------------------------------------------------------------------
 
-#----------------select proper Makefile
-MFLAGS= -f makefile_alpha
-
-HDFROOT=/data/lnslib
+include alpha_def
 
 CC       = cc
 CFLAGS = -I$(HDFROOT)/include -I. $(DFORTIFY) -DHDF4 -DHDF5 -Ipsi/hardsup \
diff --git a/matrix/makefile_alpha b/matrix/makefile_alpha
index fec7eea5..b7cc446b 100644
--- a/matrix/makefile_alpha
+++ b/matrix/makefile_alpha
@@ -5,9 +5,8 @@
 # Mark Koennecke, November 1996
 # Markus Zolliker, March 2003
 #--------------------------------------------------------------------------
-# the following line only for fortified version
-#DFORTIFY=-DFORTIFY -I$(SRC).. 
-#==========================================================================
+
+include ../alpha_def
 
 CC       = cc
 CFLAGS   = -std1 -g $(DFORTIFY)
diff --git a/motor.c b/motor.c
index e1d47dac..e57c3feb 100644
--- a/motor.c
+++ b/motor.c
@@ -74,6 +74,7 @@
 #define SPEED   9
 #define SIGN    10
 #define ECOUNT  11
+#define POSCOUNT 12
 /*------------------------------------------------------------------------
    a tiny structure used in CallBack work
 */
@@ -173,6 +174,9 @@
      fputs(pBueffel,fd);
      sprintf(pBueffel,"%s AccessCode %f\n",name,ObVal(self->ParArray,USRIGHTS));
      fputs(pBueffel,fd);
+     sprintf(pBueffel,"%s poscount %f\n",name,
+	     ObVal(self->ParArray,POSCOUNT));
+     fputs(pBueffel,fd);
      return 1;
   }
 /*-------------------------------------------------------------------------*/
@@ -195,18 +199,145 @@
         SCSetInterrupt(pCon,iVal);
       }
   }
+/*-----------------------------------------------------------------------*/
+static int evaluateStatus(pMotor self, SConnection *pCon)
+{
+  int iRet, iCode;
+  MotCallback sCall;
+  char pBueffel[256], pError[132];
+  float fHard;
+
+  iRet = self->pDriver->GetStatus(self->pDriver);
+  if( (iRet == OKOK) || (iRet == HWIdle)) 
+  {
+      MotorGetSoftPosition(self,pCon,&sCall.fVal);
+      sCall.pName = self->name;
+      InvokeCallBack(self->pCall, MOTEND, &sCall);
+      MotorGetHardPosition(self,pCon,&fHard);
+      self->fPosition = fHard;
+      if(absf(fHard - self->fTarget) > ObVal(self->ParArray,PREC))
+      {
+         snprintf(pBueffel,131,"WARNING: %s off position by %f",
+                 self->name, absf(fHard - self->fTarget));
+         SCWrite(pCon,pBueffel, eWarning);                    
+         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
+         self->retryCount = 0;
+         return HWPosFault;
+       }
+       self->retryCount = 0;
+       return HWIdle;  
+     }
+   /* motor suggests a fault */  
+     else if(iRet == HWFault)
+     {
+       self->pDriver->GetError(self->pDriver,&iCode, pError,131);
+       iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
+       if(iRet == MOTFAIL)
+       {
+         snprintf(pBueffel,255,"ERROR: %s on %s",pError,self->name);
+         SCWrite(pCon,pBueffel,eError);
+         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
+         self->retryCount = 0;
+         return HWFault;
+       }
+       else if(iRet == MOTREDO)
+       {
+         self->pDriver->RunTo(self->pDriver,self->fTarget);
+         self->retryCount++;
+         if(self->retryCount >= 3)
+         {
+            self->retryCount = 0;
+            return HWFault;
+         }
+         return HWBusy;
+       }
+       else
+       {
+         self->retryCount = 0;
+         return HWBusy;
+       }  
+     } 
+   /* a positioning fault */  
+     else if(iRet == HWPosFault)
+     {
+       self->pDriver->GetError(self->pDriver,&iCode, pError,131);
+       iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
+       if(iRet == MOTFAIL)
+       {
+         snprintf(pBueffel,255,"ERROR: %s on %s",pError,self->name);
+         SCWrite(pCon,pBueffel,eError);
+         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
+         self->retryCount = 0;
+         return HWFault;
+       }
+       else if(iRet == MOTREDO)
+       {
+         self->posFaultCount++;
+         if(self->posFaultCount >= 4)
+         {
+           self->posFaultCount = 0;
+           self->retryCount = 0;
+           return HWPosFault;
+         }
+         self->pDriver->RunTo(self->pDriver,self->fTarget);
+         return HWBusy;
+       }
+       else
+       {
+         return HWBusy;
+       }  
+     }
+     else if(iRet == HWWarn)
+     {
+        self->pDriver->GetError(self->pDriver,&iCode,pError,131);
+        snprintf(pBueffel,255,"WARNING: %s on %s",pError,self->name);
+        SCWrite(pCon,pBueffel,eStatus);
+        return HWIdle;
+     }
+     self->retryCount = 0;
+     return iRet;
+}
+/*---------------------------------------------------------------------*/
+static void handleMoveCallback(pMotor self, SConnection *pCon)
+{
+    MotCallback sCall;
+  
+    self->posCount++;
+    if(self->posCount >= ObVal(self->ParArray,POSCOUNT))
+    {
+      MotorGetSoftPosition(self,pCon,&sCall.fVal);
+      sCall.pName = self->name;
+      InvokeCallBack(self->pCall, MOTDRIVE, &sCall);
+      self->posCount = 0;
+    }
+}
+/*-----------------------------------------------------------------------*/
+  static int MotorStatus(void *sulf, SConnection *pCon)
+  {
+     pMotor self = NULL;
+     int status;
+
+     assert(sulf);
+     self = (pMotor)sulf;
+
+     status = evaluateStatus(self,pCon);
+     if(status == HWBusy)
+     {
+       handleMoveCallback(self,pCon);
+     }
+     return status;
+  }
 /*--------------------------------------------------------------------------
   Refactor
   --------------------------------------------------------------------------*/
-  static int MotorStatus(void *sulf, SConnection *pCon)
+  static int MotorStatus2(void *sulf, SConnection *pCon)
   {
      float fHard;
      pMotor self;
      int iRet,i, iCode;
-     static int iRetry = 0;
      char pError[132];
      char pBueffel[256];
-     static int iPosFault = 0;
+     static int iPosFault = 0, iRetry = 0;
      MotCallback sCall;
      
      
@@ -354,7 +485,7 @@
     
     
     /* create and initialize parameters */
-    pM->ParArray = ObParCreate(12);
+    pM->ParArray = ObParCreate(13);
     if(!pM->ParArray)
     {
        free(pM);
@@ -372,6 +503,7 @@
     ObParInit(pM->ParArray,SPEED,"speed",0.02,usInternal);
     ObParInit(pM->ParArray,SIGN,"sign",1.0,usMugger);
     ObParInit(pM->ParArray,ECOUNT,"failafter",3.0,usMugger);
+    ObParInit(pM->ParArray,POSCOUNT,"poscount",20.0,usMugger);
     pDriv->GetPosition(pDriv,&(pM->fPosition));
     pM->fTarget = pM->fPosition;
     pM->endScriptID = 0;
@@ -696,6 +828,8 @@ extern void KillPiPiezo(void *pData);
     }
 
     /* Boundaries OK, send command */
+    self->posFaultCount = 0;
+    self->retryCount = 0;
     self->fTarget = fHard;
     iRet = self->pDriver->RunTo(self->pDriver,fHard);
     if(iRet != OKOK)
diff --git a/motor.h b/motor.h
index 32f7afb7..509a3130 100644
--- a/motor.h
+++ b/motor.h
@@ -25,6 +25,10 @@
                           float fTarget;
                           float fPosition;
                           long endScriptID;
+                          int posCount; /* counter for calling the
+                                           motor callback */
+                          int retryCount; /* for retries in status */
+                          int posFaultCount;
                           } Motor;
    typedef Motor *pMotor;
 /*-------------------------------------------------------------------------*/      
diff --git a/network.c b/network.c
index d386a546..6efb042c 100644
--- a/network.c
+++ b/network.c
@@ -472,7 +472,7 @@ CreateSocketAdress(
      /* 
 	how may cycles to read in order to have a timeout
      */
-     nLoop = timeout/10;
+     nLoop = timeout/5;
      if(nLoop <= 0)
      {
        nLoop = 1;
@@ -480,7 +480,7 @@ CreateSocketAdress(
 
      for(i = 0; i < nLoop; i++)
      {
-       iRet = NETAvailable(self,10);
+       iRet = NETAvailable(self,5);
        if(iRet < 0)
        {
 	 return iRet;
@@ -521,6 +521,13 @@ CreateSocketAdress(
 	     return 1;
            }
          }
+	 if(read >= iBufLen)
+	 {
+	   /*
+	     we have filled the buffer but not found a terminator
+	   */
+	   return -1;
+         }
        }
      }
      return 0; /* timeout! */
diff --git a/nread.c b/nread.c
index 461bf3d1..33ee54ba 100644
--- a/nread.c
+++ b/nread.c
@@ -957,7 +957,7 @@ extern VerifyChannel(mkChannel *self); /* defined in network.c */
     
     assert(self);
     
-    /* find the entry to remove */
+    /* find the entry to read */
     iRet = LLDnodePtr2First(self->iList);
     while(iRet != 0)
     {
@@ -1006,3 +1006,5 @@ extern VerifyChannel(mkChannel *self); /* defined in network.c */
     }
     return 0;
   }
+
+
diff --git a/nserver.c b/nserver.c
index 53d6a43f..426314b9 100644
--- a/nserver.c
+++ b/nserver.c
@@ -301,7 +301,9 @@
 
     /* shut tasker down */
     TaskerDelete(&self->pTasker);
-    
+    self->pTasker = NULL;
+    self->pReader = NULL;
+
     /* save status */
     if(!self->simMode)
     { 
diff --git a/rs232controller.c b/rs232controller.c
index 8c3b32f6..6e94c5cc 100644
--- a/rs232controller.c
+++ b/rs232controller.c
@@ -16,15 +16,9 @@
 #include "fortify.h"
 #include "sics.h"
 #include "splitter.h"
+#include "nread.h"
 #include "rs232controller.h"
 
-/*
-  own error codes
-*/
-#define NOTCONNECTED  -2700
-#define BADMEMORY     -2701
-#define TIMEOUT       -2702
-#define FAILEDCONNECT -2703
 
 /*--------------------------------------------------------------------*/
 void setRS232SendTerminator(prs232 self, char *term)
@@ -70,6 +64,12 @@ void setRS232Timeout(prs232 self, int timeout)
   assert(self);
   self->timeout = timeout;
 }
+/*---------------------------------------------------------------------*/
+void setRS232Debug(prs232 self, int deb)
+{
+  assert(self);
+  self->debug = deb;
+}
 /*--------------------------------------------------------------------*/
 int writeRS232(prs232 self, void *data, int dataLen)
 {
@@ -121,6 +121,11 @@ int writeRS232(prs232 self, void *data, int dataLen)
     send 
   */
   iRet = NETWrite(self->pSock,data,dataLen);
+  if(self->debug > 0)
+  {
+    printf("RS232 OUT: %s",(char *)data);
+    fflush(stdout);
+  }
 
   if(pPtr != NULL)
     free(pPtr);
@@ -164,6 +169,11 @@ int readRS232(prs232 self, void *data, int *dataLen)
     lRead = recv(self->pSock->sockid, data,rLength,0);
     if(lRead >= 0)
     {
+      if(self->debug > 0)
+      {
+	printf("RS232 IN: %s",(char *)data);
+	fflush(stdout);
+      }
       *dataLen = lRead;
       return 1;
     }
@@ -172,11 +182,45 @@ int readRS232(prs232 self, void *data, int *dataLen)
       return (int)lRead;
     }
   }
+
   /*
     not reached 
   */
   return 0;
 }
+/*--------------------------------------------------------------------*/
+int readRS232TillTerm(prs232 self, void *data, int *datalen){
+  int iRet, replylen;
+  assert(self);
+
+  /*
+    catch an unconnected socket
+  */
+  if(!self->pSock)
+  {
+    return NOTCONNECTED;
+  }
+
+  memset(data,0,*datalen);
+  replylen = *datalen;
+  iRet = NETReadTillTerm(self->pSock,self->timeout,self->replyTerminator,
+			  (char *)data, replylen);
+  if(self->debug > 0)
+  {
+    printf("RS232 IN/TERM: %s",(char *)data);
+    fflush(stdout);
+  }
+  if(iRet == 0)
+  {
+    return TIMEOUT;
+  } 
+  else if(iRet == -1)
+  {
+    return INCOMPLETE;
+  }
+  *datalen = strlen((char *)data);
+  return 1;
+}
 /*-----------------------------------------------------------------------*/
 int availableRS232(prs232 self)
 {
@@ -190,7 +234,32 @@ int availableRS232(prs232 self)
     return NOTCONNECTED;
   }
 
-  return NETAvailable(self->pSock,self->timeout);
+  return NETAvailable(self->pSock,3);
+}
+/*-----------------------------------------------------------------------*/
+int availableNetRS232(prs232 self)
+{
+  int status;
+  assert(self);
+
+  /*
+    catch an unconnected socket
+  */
+  if(!self->pSock)
+  {
+    return NOTCONNECTED;
+  }
+
+  if(!self->registered){
+    if(pServ->pReader != NULL){
+      NetReadRegisterUserSocket(pServ->pReader,self->pSock->sockid);
+      self->registered = 1;
+      return 0;
+    }
+  }
+  status = NetReadReadable(pServ->pReader,self->pSock->sockid);
+  NetReadResetUser(pServ->pReader, self->pSock->sockid);
+  return status;
 }
 /*------------------------------------------------------------------------*/
 int transactRS232(prs232 self, void *send, int sendLen,
@@ -223,10 +292,19 @@ int transactRS232(prs232 self, void *send, int sendLen,
   memset(reply,0,replyLen);
   iRet = NETReadTillTerm(self->pSock,self->timeout,self->replyTerminator,
 			  reply, replyLen);
+  if(self->debug > 0)
+  {
+    printf("RS232 IN/TRANS: %s",(char *)reply);
+    fflush(stdout);
+  }
   if(iRet == 0)
   {
     return TIMEOUT;
   }
+  else if(iRet == -1)
+  {
+    return INCOMPLETE;
+  }
   else
   {
     return iRet;
@@ -262,6 +340,10 @@ void getRS232Error(int iCode, char *errorBuffer,
                "Failed to connect to terminal server",
 	      errorBufferLen);
       break;
+  case INCOMPLETE:
+      strncpy(errorBuffer,"Did not find terminator in read buffer",
+	    errorBufferLen);
+      break;
     default:
       strncpy(errorBuffer,strerror(errno),
               errorBufferLen);
@@ -277,17 +359,53 @@ int initRS232(prs232 self)
 
   if(self->pSock != NULL)
   {
+    if(pServ->pReader != NULL){
+      NetReadRemoveUserSocket(pServ->pReader,self->pSock->sockid);
+    }
     NETClosePort(self->pSock);
     self->pSock = NULL;
   }
   self->pSock = NETConnect(self->pHost, self->iPort);
-  if(!self->pSock)
+  if(!self->pSock){
     return FAILEDCONNECT;
-  else
+  } else{
+    if(pServ->pReader != NULL){
+      NetReadRegisterUserSocket(pServ->pReader,self->pSock->sockid);
+      self->registered = 1;
+    }
     return 1;
+  }
+}
+/*------------------------------------------------------------------*/
+prs232 createRS232(char *host, int iPort)
+{
+  prs232 pNew = NULL;
+
+  /*
+   create data structure 
+  */
+  pNew = (prs232)malloc(sizeof(rs232));
+  if(!pNew)
+  {
+    return NULL;
+  }
+  memset(pNew, 0, sizeof(rs232));
+
+  pNew->pHost = strdup(host);
+  pNew->iPort = iPort;
+  pNew->sendTerminator = strdup("\r");
+  pNew->replyTerminator = strdup("\n");
+  pNew->timeout = 1000;
+  pNew->pDes = CreateDescriptor("RS232 Controller");
+  if(!pNew->pDes || !pNew->pHost || 
+     !pNew->replyTerminator || !pNew->sendTerminator)
+  {
+    return NULL;
+  }
+  return pNew;
 }
 /*-------------------------------------------------------------------*/
-static void KillRS232(void *pData)
+ void KillRS232(void *pData)
 {
   prs232 self = (prs232)pData;
   if(!self)
@@ -309,6 +427,9 @@ static void KillRS232(void *pData)
   }
   if(self->pSock)
   {
+    if(pServ->pReader != NULL){
+      NetReadRemoveUserSocket(pServ->pReader,self->pSock->sockid);
+    }
     NETClosePort(self->pSock);
   }
   if(self->pHost)
@@ -590,7 +711,7 @@ int RS232Factory(SConnection *pCon, SicsInterp *pSics,
                         void *pData, int argc, char *argv[])
 {
   prs232 pNew = NULL;
-  int iRet;
+  int iRet, status;
   char pError[256];
 
   if(argc < 4)
@@ -623,8 +744,8 @@ int RS232Factory(SConnection *pCon, SicsInterp *pSics,
     SCWrite(pCon,"ERROR: out of memory in RS232Factory",eError);
     return 0;
   }
-  pNew->pSock = NETConnect(pNew->pHost, pNew->iPort);
-  if(!pNew->pSock)
+  status = initRS232(pNew);
+  if(status != 1)
   {
      sprintf(pError,"ERROR: failed to connect to %s at port %d",
                     pNew->pHost, pNew->iPort);
diff --git a/rs232controller.h b/rs232controller.h
index 3b5be048..f6f466ff 100644
--- a/rs232controller.h
+++ b/rs232controller.h
@@ -14,6 +14,14 @@
 #ifndef RS232CONTROLLER
 #define RS232CONTROLLER
 #include "network.h"
+/*
+  own error codes
+*/
+#define NOTCONNECTED  -2700
+#define BADMEMORY     -2701
+#define TIMEOUT       -2702
+#define FAILEDCONNECT -2703
+#define INCOMPLETE    -2704
 
 /*----------------------- a data structure ----------------------------*/
 
@@ -25,6 +33,8 @@
                         mkChannel *pSock;
                         char *pHost;
                         int iPort;
+                        int debug;
+                        int registered;
                       } rs232, *prs232;
 
 
@@ -39,14 +49,22 @@
         void setRS232SendTerminator(prs232 self, char *term);
         void setRS232ReplyTerminator(prs232 self, char *term);
         void setRS232Timeout(prs232 self, int timeout);
+        void setRS232Debug(prs232 self, int deb);
+
         int writeRS232(prs232 self, void *data, int dataLen);
         int readRS232(prs232 self, void *data, int *dataLen);
+        int readRS232TillTerm(prs232 self, void *data, int *datalen);
         int availableRS232(prs232 self);
+        int availableNetRS232(prs232 self);
         int transactRS232(prs232 self, void *send, int sendLen,
                                 void *reply, int replylen);
+
         void getRS232Error(int iCode, char *errorBuffer, 
                                              int errorBufferLen);
+
         int initRS232(prs232 self);
+        prs232 createRS232(char *host, int iPort);
+        void KillRS232(void *pData);
 
 
 #endif
diff --git a/rs232controller.w b/rs232controller.w
index 76f3f0f8..71554276 100644
--- a/rs232controller.w
+++ b/rs232controller.w
@@ -23,6 +23,8 @@ This class provides the basic communication facilities for an arbitrary
 			mkChannel *pSock;
 			char *pHost;
 			int iPort;
+                        int debug;
+			int registered;
                       } rs232, *prs232;
 
 @}
@@ -36,6 +38,10 @@ The fields are:
 \item[mkChannel] Our very own structure for a network connection.
 \item[pHost]The host (mostly the terminal server) to connect to.
 \item[iPort] The port at host to which to connect.
+\item[debug] a flag which switches logging of the communication to
+stdout on. 
+\item[registered] a flag which is set if the registration of the rs232
+controllers network port has succeeded.  
 \end{description}
 
 The following interface functions are provided: 
@@ -49,14 +55,22 @@ The following interface functions are provided:
 	void setRS232SendTerminator(prs232 self, char *term);
 	void setRS232ReplyTerminator(prs232 self, char *term);
         void setRS232Timeout(prs232 self, int timeout);
+	void setRS232Debug(prs232 self, int deb);
+
 	int writeRS232(prs232 self, void *data, int dataLen);
 	int readRS232(prs232 self, void *data, int *dataLen);
+	int readRS232TillTerm(prs232 self, void *data, int *datalen);
 	int availableRS232(prs232 self);
+        int availableNetRS232(prs232 self);
 	int transactRS232(prs232 self, void *send, int sendLen,
 				void *reply, int replylen);
+
 	void getRS232Error(int iCode, char *errorBuffer, 
                                              int errorBufferLen);
+
         int initRS232(prs232 self);
+        prs232 createRS232(char *host, int iPort);
+	void KillRS232(void *pData);
 @}
 
 All functions take a pointer to their daat structure as a parameter.
@@ -80,10 +94,16 @@ The functions have the following meanings:
  replyLen bytes of reply are copied to reply.
 \item[availableRS232] returns 1 if data is available, o if none is available 
  and a negative value if an error occurs.
+\item[availableNetRS232] returns 1 when data is pending at the network
+reader for this port, else 0. This function also resets the network reader for 
+further use. This could lead to trouble if pending data is not
+directly followed by a read.  
 \item[getRS232Error] gets a string representation for the error code 
  iCode.
 \item[initRS232] tries to close and reopen the RS232 connection. This is 
  useful for the automatic fixing of communication problems encountered.
+\item[createRS232] creates a new rs232 data structure with all
+parameters at  default values. The connection is NOT opened. 
 \end{description}
 
 @o rs232controller.h @{
@@ -102,6 +122,14 @@ The functions have the following meanings:
 #ifndef RS232CONTROLLER
 #define RS232CONTROLLER
 #include "network.h"
+/*
+  own error codes
+*/
+#define NOTCONNECTED  -2700
+#define BADMEMORY     -2701
+#define TIMEOUT       -2702
+#define FAILEDCONNECT -2703
+#define INCOMPLETE    -2704
 
 /*----------------------- a data structure ----------------------------*/
 @<rs232dat@>
diff --git a/sicsstatus.tcl b/sicsstatus.tcl
index b4b0fd9a..5bbe7fdb 100644
--- a/sicsstatus.tcl
+++ b/sicsstatus.tcl
@@ -1,80 +1,50 @@
-# naff was here , best wishes
-# naff was here , best wishes
-# naff was here , best wishes
-yfactor 1.420000
-yfactor setAccess 1
-xfactor 0.715000
-xfactor setAccess 1
-ps.listfile peaksearch.dat
-ps.listfile setAccess 2
-ps.scansteps 24
-ps.scansteps setAccess 2
-ps.scanpreset 1000000.000000
-ps.scanpreset setAccess 2
-ps.preset 1000.000000
-ps.preset setAccess 2
-ps.countmode monitor
-ps.countmode setAccess 2
-ps.cogcontour 0.200000
-ps.cogcontour setAccess 2
-ps.cogwindow 60
-ps.cogwindow setAccess 2
-ps.window 7
-ps.window setAccess 2
-ps.steepness 3
-ps.steepness setAccess 2
-ps.threshold 30
-ps.threshold setAccess 2
-ps.sttstep 3.000000
-ps.sttstep setAccess 2
-ps.sttend 70.000000
-ps.sttend setAccess 2
-ps.sttstart 5.000000
-ps.sttstart setAccess 2
-ps.omstep 3.000000
-ps.omstep setAccess 2
-ps.omend 30.000000
-ps.omend setAccess 2
-ps.omstart 0.000000
-ps.omstart setAccess 2
-ps.chistep 12.000000
-ps.chistep setAccess 2
-ps.chiend 180.000000
-ps.chiend setAccess 2
-ps.chistart 0.000000
-ps.chistart setAccess 2
-ps.phistep 3.000000
-ps.phistep setAccess 2
-ps.phiend 180.000000
-ps.phiend setAccess 2
-ps.phistart 0.000000
-ps.phistart setAccess 2
-hm3 CountMode timer
-hm3 preset 10.000000
+a5l.length 80.000000
+flightpathlength 0.000000
+flightpathlength setAccess 1
+flightpath 0.000000
+flightpath setAccess 1
+delay 2500.000000
+delay setAccess 1
+hm CountMode timer
+hm preset 100.000000
+hm genbin 120.000000 35.000000 512
+hm init
+datafile focus-1001848.hdf
+datafile setAccess 3
 hm2 CountMode timer
 hm2 preset 10.000000
-banana CountMode timer
-banana preset 2.000000
 hm1 CountMode timer
-hm1 preset 2.000000
+hm1 preset 100.000000
+dbfile UNKNOWN
+dbfile setAccess 2
+# Motor th
+th sign 1.000000
+th SoftZero 0.000000
+th SoftLowerLim -120.000000
+th SoftUpperLim 120.000000
+th Fixed -1.000000
+th InterruptMode 0.000000
+th precision 0.010000
+th AccessCode 2.000000
+th poscount 20.000000
 #Crystallographic Settings
-hkl lambda 1.179000
-hkl setub -0.017880 -0.074923 0.028280 -0.007008 -0.036800 -0.057747 0.160912 -0.009928 0.000627
+hkl lambda 0.703790
+hkl setub -0.124702 0.001618 -0.041357 -0.104448 -0.001326 0.049388 0.000751 0.084094 0.001574
 hkl hm 0
-detdist3 0.000000
-detdist3 setAccess 1
+det3dist 300.000000
+det3dist setAccess 1
 det3zeroy 128.000000
 det3zeroy setAccess 1
 det3zerox 128.000000
 det3zerox setAccess 1
-detdist2 0.000000
-detdist2 setAccess 1
+det2dist 300.000000
+det2dist setAccess 1
 det2zeroy 128.000000
 det2zeroy setAccess 1
 det2zerox 128.000000
 det2zerox setAccess 1
-detdist1 0.000000
-detdist1 setAccess 1
+det1dist 300.000000
+det1dist setAccess 1
 det1zeroy 128.000000
 det1zeroy setAccess 1
 det1zerox 128.000000
@@ -92,24 +62,27 @@ om Fixed -1.000000
 om InterruptMode 0.000000
 om precision 0.010000
 om AccessCode 2.000000
+om poscount 20.000000
 # Motor stt
 stt sign 1.000000
 stt SoftZero 0.000000
-stt SoftLowerLim 4.000000
-stt SoftUpperLim 113.000000
+stt SoftLowerLim -120.000000
+stt SoftUpperLim 120.000000
 stt Fixed -1.000000
 stt InterruptMode 0.000000
 stt precision 0.010000
 stt AccessCode 2.000000
+stt poscount 20.000000
 # Motor ch
 ch sign 1.000000
 ch SoftZero 0.000000
 ch SoftLowerLim 0.000000
-ch SoftUpperLim 190.000000
+ch SoftUpperLim 360.000000
 ch Fixed -1.000000
 ch InterruptMode 0.000000
 ch precision 0.010000
-ch AccessCode 1.000000
+ch AccessCode 2.000000
+ch poscount 20.000000
 # Motor ph
 ph sign 1.000000
 ph SoftZero 0.000000
@@ -119,6 +92,7 @@ ph Fixed -1.000000
 ph InterruptMode 0.000000
 ph precision 0.010000
 ph AccessCode 2.000000
+ph poscount 20.000000
 # Motor dg3
 dg3 sign 1.000000
 dg3 SoftZero 0.000000
@@ -128,6 +102,7 @@ dg3 Fixed -1.000000
 dg3 InterruptMode 0.000000
 dg3 precision 0.010000
 dg3 AccessCode 2.000000
+dg3 poscount 20.000000
 # Motor dg2
 dg2 sign 1.000000
 dg2 SoftZero 0.000000
@@ -137,6 +112,7 @@ dg2 Fixed -1.000000
 dg2 InterruptMode 0.000000
 dg2 precision 0.010000
 dg2 AccessCode 2.000000
+dg2 poscount 20.000000
 # Motor dg1
 dg1 sign 1.000000
 dg1 SoftZero 0.000000
@@ -146,6 +122,7 @@ dg1 Fixed -1.000000
 dg1 InterruptMode 0.000000
 dg1 precision 0.010000
 dg1 AccessCode 2.000000
+dg1 poscount 20.000000
 # Motor muca
 muca sign 1.000000
 muca SoftZero 0.000000
@@ -155,6 +132,7 @@ muca Fixed -1.000000
 muca InterruptMode 0.000000
 muca precision 0.010000
 muca AccessCode 2.000000
+muca poscount 20.000000
 # Motor phi
 phi sign 1.000000
 phi SoftZero 0.000000
@@ -164,15 +142,17 @@ phi Fixed -1.000000
 phi InterruptMode 0.000000
 phi precision 0.010000
 phi AccessCode 2.000000
+phi poscount 20.000000
 # Motor chi
 chi sign 1.000000
 chi SoftZero 0.000000
 chi SoftLowerLim 0.000000
-chi SoftUpperLim 190.000000
+chi SoftUpperLim 360.000000
 chi Fixed -1.000000
 chi InterruptMode 0.000000
 chi precision 0.010000
-chi AccessCode 1.000000
+chi AccessCode 2.000000
+chi poscount 20.000000
 # Motor omega
 omega sign 1.000000
 omega SoftZero 0.000000
@@ -182,17 +162,21 @@ omega Fixed -1.000000
 omega InterruptMode 0.000000
 omega precision 0.010000
 omega AccessCode 2.000000
+omega poscount 20.000000
 # Motor twotheta
 twotheta sign 1.000000
 twotheta SoftZero 0.000000
-twotheta SoftLowerLim 4.000000
-twotheta SoftUpperLim 113.000000
+twotheta SoftLowerLim -120.000000
+twotheta SoftUpperLim 120.000000
 twotheta Fixed -1.000000
 twotheta InterruptMode 0.000000
 twotheta precision 0.010000
 twotheta AccessCode 2.000000
-lastscancommand sscan a3 100 110 10 1
+twotheta poscount 20.000000
+lastscancommand cscan a4 0. .2 10 2
 lastscancommand setAccess 2
+banana CountMode timer
+banana preset 100.000000
 sample_mur 0.000000
 sample_mur setAccess 2
 email UNKNOWN
@@ -204,17 +188,18 @@ phone setAccess 2
 adress UNKNOWN
 adress setAccess 2
 # Counter counter
-counter SetPreset 1.000000
+counter SetPreset 2.000000
 counter SetMode Monitor
 # Motor som
 som sign 1.000000
-som SoftZero -20.000000
-som SoftLowerLim -340.000000
-som SoftUpperLim 380.000000
+som SoftZero 0.000000
+som SoftLowerLim -360.000000
+som SoftUpperLim 360.000000
 som Fixed -1.000000
 som InterruptMode 0.000000
 som precision 0.010000
 som AccessCode 2.000000
+som poscount 20.000000
 # Motor sax
 sax sign 1.000000
 sax SoftZero 0.000000
@@ -224,6 +209,7 @@ sax Fixed -1.000000
 sax InterruptMode 0.000000
 sax precision 0.010000
 sax AccessCode 2.000000
+sax poscount 20.000000
 # Motor tilt
 tilt sign 1.000000
 tilt SoftZero 0.000000
@@ -233,28 +219,11 @@ tilt Fixed -1.000000
 tilt InterruptMode 0.000000
 tilt precision 0.010000
 tilt AccessCode 0.000000
+tilt poscount 20.000000
 #----- MultiMotor st
-st recovernampos henry d1r 5. d1l -5. d1t 0.
+st recovernampos henry  d1r 5. d1l -5. d1t 0.
 #----- MultiMotor sampletable
-sampletable recovernampos henry d1r 5. d1l -5. d1t 0.
-# Motor cex2
-cex2 sign 1.000000
-cex2 SoftZero 0.000000
-cex2 SoftLowerLim -360.000000
-cex2 SoftUpperLim 360.000000
-cex2 Fixed -1.000000
-cex2 InterruptMode 0.000000
-cex2 precision 0.010000
-cex2 AccessCode 2.000000
-# Motor cex1
-cex1 sign 1.000000
-cex1 SoftZero 0.000000
-cex1 SoftLowerLim -360.000000
-cex1 SoftUpperLim 360.000000
-cex1 Fixed -1.000000
-cex1 InterruptMode 0.000000
-cex1 precision 0.010000
-cex1 AccessCode 2.000000
+sampletable recovernampos henry  d1r 5. d1l -5. d1t 0.
 # Motor detectorrotation
 detectorrotation sign 1.000000
 detectorrotation SoftZero 0.000000
@@ -264,6 +233,7 @@ detectorrotation Fixed -1.000000
 detectorrotation InterruptMode 0.000000
 detectorrotation precision 0.010000
 detectorrotation AccessCode 2.000000
+detectorrotation poscount 20.000000
 # Motor detectory
 detectory sign 1.000000
 detectory SoftZero 0.000000
@@ -273,6 +243,7 @@ detectory Fixed -1.000000
 detectory InterruptMode 0.000000
 detectory precision 0.010000
 detectory AccessCode 2.000000
+detectory poscount 20.000000
 # Motor detectorx
 detectorx sign 1.000000
 detectorx SoftZero 0.000000
@@ -282,6 +253,7 @@ detectorx Fixed -1.000000
 detectorx InterruptMode 0.000000
 detectorx precision 0.010000
 detectorx AccessCode 2.000000
+detectorx poscount 20.000000
 # Motor beamstopy
 beamstopy sign 1.000000
 beamstopy SoftZero 0.000000
@@ -291,6 +263,7 @@ beamstopy Fixed -1.000000
 beamstopy InterruptMode 0.000000
 beamstopy precision 0.010000
 beamstopy AccessCode 2.000000
+beamstopy poscount 20.000000
 # Motor beamstopx
 beamstopx sign 1.000000
 beamstopx SoftZero 0.000000
@@ -300,6 +273,7 @@ beamstopx Fixed -1.000000
 beamstopx InterruptMode 0.000000
 beamstopx precision 0.010000
 beamstopx AccessCode 2.000000
+beamstopx poscount 20.000000
 # Motor d2t
 d2t sign 1.000000
 d2t SoftZero 0.000000
@@ -309,6 +283,7 @@ d2t Fixed -1.000000
 d2t InterruptMode 0.000000
 d2t precision 0.010000
 d2t AccessCode 2.000000
+d2t poscount 20.000000
 # Motor d2l
 d2l sign 1.000000
 d2l SoftZero 0.000000
@@ -318,6 +293,7 @@ d2l Fixed -1.000000
 d2l InterruptMode 0.000000
 d2l precision 0.010000
 d2l AccessCode 2.000000
+d2l poscount 20.000000
 # Motor d2r
 d2r sign 1.000000
 d2r SoftZero 0.000000
@@ -327,6 +303,7 @@ d2r Fixed -1.000000
 d2r InterruptMode 0.000000
 d2r precision 0.010000
 d2r AccessCode 2.000000
+d2r poscount 20.000000
 # Motor d1t
 d1t sign 1.000000
 d1t SoftZero 0.000000
@@ -336,6 +313,7 @@ d1t Fixed -1.000000
 d1t InterruptMode 0.000000
 d1t precision 0.010000
 d1t AccessCode 2.000000
+d1t poscount 20.000000
 # Motor d1l
 d1l sign 1.000000
 d1l SoftZero 0.000000
@@ -345,6 +323,7 @@ d1l Fixed -1.000000
 d1l InterruptMode 0.000000
 d1l precision 0.010000
 d1l AccessCode 2.000000
+d1l poscount 20.000000
 # Motor d1r
 d1r sign 1.000000
 d1r SoftZero 0.000000
@@ -354,6 +333,7 @@ d1r Fixed -1.000000
 d1r InterruptMode 0.000000
 d1r precision 0.010000
 d1r AccessCode 2.000000
+d1r poscount 20.000000
 # Motor monochi
 monochi sign 1.000000
 monochi SoftZero 0.000000
@@ -363,6 +343,7 @@ monochi Fixed -1.000000
 monochi InterruptMode 0.000000
 monochi precision 0.010000
 monochi AccessCode 2.000000
+monochi poscount 20.000000
 # Motor monophi
 monophi sign 1.000000
 monophi SoftZero 0.000000
@@ -372,6 +353,7 @@ monophi Fixed -1.000000
 monophi InterruptMode 0.000000
 monophi precision 0.010000
 monophi AccessCode 2.000000
+monophi poscount 20.000000
 # Motor monoy
 monoy sign 1.000000
 monoy SoftZero 0.000000
@@ -381,6 +363,7 @@ monoy Fixed -1.000000
 monoy InterruptMode 0.000000
 monoy precision 0.010000
 monoy AccessCode 2.000000
+monoy poscount 20.000000
 # Motor monox
 monox sign 1.000000
 monox SoftZero 0.000000
@@ -390,6 +373,7 @@ monox Fixed -1.000000
 monox InterruptMode 0.000000
 monox precision 0.010000
 monox AccessCode 2.000000
+monox poscount 20.000000
 # Motor tasse
 tasse sign 1.000000
 tasse SoftZero 0.000000
@@ -399,6 +383,7 @@ tasse Fixed -1.000000
 tasse InterruptMode 0.000000
 tasse precision 0.010000
 tasse AccessCode 2.000000
+tasse poscount 20.000000
 # Motor sdm
 sdm sign 1.000000
 sdm SoftZero 0.000000
@@ -408,6 +393,7 @@ sdm Fixed -1.000000
 sdm InterruptMode 0.000000
 sdm precision 0.010000
 sdm AccessCode 2.000000
+sdm poscount 20.000000
 # Motor sgu
 sgu sign 1.000000
 sgu SoftZero 0.000000
@@ -417,6 +403,7 @@ sgu Fixed -1.000000
 sgu InterruptMode 0.000000
 sgu precision 0.010000
 sgu AccessCode 2.000000
+sgu poscount 20.000000
 # Motor sgl
 sgl sign 1.000000
 sgl SoftZero 0.000000
@@ -426,6 +413,7 @@ sgl Fixed -1.000000
 sgl InterruptMode 0.000000
 sgl precision 0.010000
 sgl AccessCode 2.000000
+sgl poscount 20.000000
 # Motor mgu
 mgu sign 1.000000
 mgu SoftZero 0.000000
@@ -435,6 +423,7 @@ mgu Fixed -1.000000
 mgu InterruptMode 0.000000
 mgu precision 0.010000
 mgu AccessCode 2.000000
+mgu poscount 20.000000
 # Motor stu
 stu sign 1.000000
 stu SoftZero 0.000000
@@ -444,6 +433,7 @@ stu Fixed -1.000000
 stu InterruptMode 0.000000
 stu precision 0.010000
 stu AccessCode 2.000000
+stu poscount 20.000000
 # Motor stl
 stl sign 1.000000
 stl SoftZero 0.000000
@@ -453,6 +443,7 @@ stl Fixed -1.000000
 stl InterruptMode 0.000000
 stl precision 0.010000
 stl AccessCode 2.000000
+stl poscount 20.000000
 # Motor mtu
 mtu sign 1.000000
 mtu SoftZero 0.000000
@@ -462,6 +453,7 @@ mtu Fixed -1.000000
 mtu InterruptMode 0.000000
 mtu precision 0.010000
 mtu AccessCode 2.000000
+mtu poscount 20.000000
 # Motor mtl
 mtl sign 1.000000
 mtl SoftZero 0.000000
@@ -471,6 +463,7 @@ mtl Fixed -1.000000
 mtl InterruptMode 0.000000
 mtl precision 0.010000
 mtl AccessCode 2.000000
+mtl poscount 20.000000
 # Motor a6
 a6 sign 1.000000
 a6 SoftZero 0.000000
@@ -480,6 +473,7 @@ a6 Fixed -1.000000
 a6 InterruptMode 0.000000
 a6 precision 0.010000
 a6 AccessCode 2.000000
+a6 poscount 20.000000
 # Motor a5
 a5 sign 1.000000
 a5 SoftZero 0.000000
@@ -489,6 +483,7 @@ a5 Fixed -1.000000
 a5 InterruptMode 0.000000
 a5 precision 0.010000
 a5 AccessCode 2.000000
+a5 poscount 20.000000
 # Motor a4
 a4 sign 1.000000
 a4 SoftZero 0.000000
@@ -498,15 +493,17 @@ a4 Fixed -1.000000
 a4 InterruptMode 0.000000
 a4 precision 0.010000
 a4 AccessCode 2.000000
+a4 poscount 20.000000
 # Motor a3
 a3 sign 1.000000
-a3 SoftZero -20.000000
-a3 SoftLowerLim -340.000000
-a3 SoftUpperLim 380.000000
+a3 SoftZero 0.000000
+a3 SoftLowerLim -360.000000
+a3 SoftUpperLim 360.000000
 a3 Fixed -1.000000
 a3 InterruptMode 0.000000
 a3 precision 0.010000
 a3 AccessCode 2.000000
+a3 poscount 20.000000
 # Motor a2
 a2 sign 1.000000
 a2 SoftZero 0.000000
@@ -516,6 +513,7 @@ a2 Fixed -1.000000
 a2 InterruptMode 0.000000
 a2 precision 0.010000
 a2 AccessCode 2.000000
+a2 poscount 20.000000
 # Motor a1
 a1 sign 1.000000
 a1 SoftZero 0.000000
@@ -525,11 +523,14 @@ a1 Fixed -1.000000
 a1 InterruptMode 0.000000
 a1 precision 0.010000
 a1 AccessCode 2.000000
-user Uwe Filges
+a1 poscount 20.000000
+batchroot /data/koenneck/src/sics
+batchroot setAccess 2
+user Daniel_the_Clementine
 user setAccess 2
-sample D20 30K SNP Okt 2001 GS
+sample DanielOxid
 sample setAccess 2
-title endtest called with 23.000000 :Driving:
+title TopsiTupsiTapsi
 title setAccess 2
-starttime 2002-08-07 08:09:45
+starttime UNKNOWN
 starttime setAccess 2
diff --git a/test.tcl b/test.tcl
index 9a002751..6f433c4e 100644
--- a/test.tcl
+++ b/test.tcl
@@ -169,7 +169,12 @@ set dornen(Port) 4000
 set dornen(Channel) 6
 set dornen(Timeout) 5000
 #VelocitySelector nvs tilt DORNIER dornen
-VelocitySelector nvs tilt SIM
+set d2003(Host) psts233
+set d2003(Port) 3004
+set d2003(Timeout) 20000
+VelocitySelector nvs tilt dornier2003 d2003
+
+#VelocitySelector nvs tilt SIM
 nvs add -20 28800
 nvs add 3800 4500
 nvs add 5900 6700
diff --git a/velo.c b/velo.c
index 90a15370..e2302c52 100644
--- a/velo.c
+++ b/velo.c
@@ -173,7 +173,8 @@
        /* if we are here we tried three times and failed to get it
           work
         */
-       sprintf(pBueffel,"ERRROR: Failed 3 times to vary rotation speed. Failing.");
+       sprintf(pBueffel,
+	       "ERRROR: Failed 3 times to vary rotation speed. Failing.");
        SCWrite(pCon,pBueffel,eError);
        SCSetInterrupt(pCon,(int)ObVal(self->pPar,INT));
        EVCSetMode(self->pMonitor,EVIdle);
diff --git a/viscom.tcl b/viscom.tcl
index c8c758a9..8c4c1637 100755
--- a/viscom.tcl
+++ b/viscom.tcl
@@ -1,4 +1,4 @@
-#!/data/koenneck/bin/wish
+#!/usr/bin/wish
 #-----------------------------------------------------------------------------
 # A semi visual command line client for SICS
 #
@@ -11,7 +11,7 @@ lappend auto_path /data/koenneck/bin/tcl
 
 set INI(DefUser) Spy
 set INI(DefPasswd) 007
-set INI(ServerPort) 2910
+set INI(ServerPort) 3006
 set INI(InterruptPort) 2913
 set INI(box) localhost
 set INI(usPasswd) Rosy