/** \file motor_dmc2280.c
 * \brief Driver for Galil DMC2280 motor controller.
 *
 * Implements a SICS motor object with a MotorDriver interface.
 * 
 * Copyright: see file Copyright.txt
 *
 * Ferdi Franceschini November 2005
 *
 * TODO
 * - check for motors enabled on plc
 * - Check error bit, see Dan's email
 */
#include <stdlib.h>
/* ISO C Standard:  7.16  Boolean type and values  <stdbool.h> */
#include <stdbool.h>
#include <math.h>
#include <float.h>
#include <assert.h>
#include <string.h>
#include <stdarg.h>
#include <sys/time.h>
#include <fortify.h>
#include <sics.h>
#include <rs232controller.h>
#include <nwatch.h>
#include <modriv.h>
#include <motor.h>
#include <dynstring.h>
#include <time.h>
#include "anstoutil.h"

/*
#include "splint/splint_fortify.h"
#include "splint/splint_tclDecls.h"
#include "splint/splint_dynstring.h"
#include "splint/splint_SCinter.h"
*/

/*@-incondefs@*/
/* XXX Should this also free pData */
#if 0
int readRS232(prs232 self, /*@out@*/void *data, /*@out@*/int *dataLen);
int readRS232TillTerm(prs232 self, /*@out@*/void *data, int *datalen);
#endif
void KillRS232(/*@only@*/ void *pData);
/*@+incondefs@*/

/** \brief Used to ensure that the getDMCSetting function is called 
 * with valid values.
 * \see getDMCSetting
 */
enum dmcsetting {dmcspeed, dmcacceleration, dmcdeceleration};
/*-----------------------------------------------------------------------
  The motor driver structure. Please note that the first set of fields has 
  be identical with the fields of AbstractModriv in  ../modriv.h 
  ------------------------------------------------------------------------*/
typedef struct __MoDriv {
  /* general motor driver interface 
     fields. _REQUIRED!
     */
  float fUpper; /**< hard upper limit */
  float fLower; /**< hard lower limit */
  char *name; /**< motor name */
  int (*GetPosition)(void *self, float *fPos);
  int   (*RunTo)(void *self, float fNewVal);
  int   (*GetStatus)(void *self);
  void  (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
  int   (*TryAndFixIt)(void *self,int iError, float fNew);
  int   (*Halt)(void *self);
  int   (*GetDriverPar)(void *self, char *name, 
      float *value);
  int    (*SetDriverPar)(void *self,SConnection *pCon,
      char *name, float newValue);
  void   (*ListDriverPar)(void *self, char *motorName,
      SConnection *pCon);
  void   (*KillPrivate)(/*@only@*/void *self);


  /* DMC-2280 specific fields */
  prs232 controller;
  pMotor pMot; /**< Points to logical motor object */
  int errorCode;
  char *errorMsg; /**< Points to memory for error messages */ 
  char units[256]; /**<  physical units for axis */
  float speed; /**<  physical units per second */
  float maxSpeed; /**<  physical units per second */
  float accel; /**<  physical units per second^2 */
  float maxAccel; /**<  physical units per second^2 */
  float decel; /**<  physical units per second^2 */
  float maxDecel; /**<  physical units per second^2 */
  char axisLabel; 
  char lastCmd[1024];
  char dmc2280Error[1024];
  float home; /**<  home position for axis, default=0 */
  int motorHome; /**<  motor home position in steps */
  int noPowerSave; /**< Flag = 1 to leave motors on after a move */
  int stepsPerX; /**<  steps per physical unit */
  int abs_endcoder; /**<  Flag = 1 if there is an abs enc */
  int absEncHome; /**<  Home position in counts for abs enc */
  int cntsPerX; /**<  absolute encoder counts per physical unit */
  int motOffDelay; /**< number of msec to wait before switching motor off, default=0 */
  float lastPosition; /**< Position at last position check */
  float lastSteps;
  float lastCounts;
  struct timeval time_lastPos_set; /**< Time when lastPosition was set */
  float blockage_ckInterval; /**< Interval for checking blocked motors, seconds */
  float blockage_thresh; /**< motion threshold for blockage checking */
  float blockage_ratio; /**< ratio steps/counts must be between 1/this and this */
  int blockage_fail; /**< flag =1 if we should fail the motor */
  int has_airpads; /**< Flag = 1 if there is are airpads for this motor */
  float fTarget;
  int settle;
  struct timeval time_settle_done;
  int airpad_state;
  int airpad_counter;
  pNWTimer airpad_timer;
  pNWTimer motor_timer;
  int debug;
} DMC2280Driv, *pDMC2280Driv;

int DMC2280MotionControl = 1; /* defaults to enabled */

#define AIRPADS_DOWN     0
#define AIRPADS_RAISE    1
#define AIRPADS_UP       2
#define AIRPADS_LOWER    3
/*------------------- error codes ----------------------------------*/
#define BADADR     -1 // NOT SET: Unknown host/port?
#define BADBSY     -2
#define BADCMD     -3
#define BADPAR     -4 // NOT SET: Does SICS already check parameter types?
#define BADUNKNOWN -5
#define BADSTP     -6 // NOT SET
#define BADEMERG   -7 // NOT SET: ESTOP
#define RVRSLIM    -8
#define FWDLIM     -9 
#define POSFAULT   -11 // NOT SET
#define BADCUSHION -12 // NOT SET
#define ERRORLIM   -13
#define IMPOSSIBLE_LIM_SW -14
#define BGFAIL     -15 // NOT SET
#define BLOCKED    -16
#define MOTIONCONTROL -17
/*--------------------------------------------------------------------*/
#define STATUSMOVING 128 /* Motor is moving */
#define STATUSERRORLIMIT 64 /* Number of errorss exceed limit */
#define STATUSOFF 32 /* Motor off */
#define STATUSFWDLIMIT 8 /* Forward limit switch active */
#define STATUSRVRSLIMIT 4 /* Reverse limit switch active */

#define INIT_STR_SIZE 256
#define STR_RESIZE_LENGTH   256
#define CMDLEN 1024
#define BUFFLEN 512
#define _SAVEPOWER 0

#define SETPOS "setpos"
#define HOME "home"
#define HARDLOWERLIM "hardlowerlim"
#define HARDUPPERLIM "hardupperlim"
#define UNITS "units"
#define SPEED "speed"
#define MAXSPEED "maxspeed"
#define ACCEL "accel"
#define MAXACCEL "maxaccel"
#define DECEL "decel"
#define MAXDECEL "maxdecel"
#define MOTOFFDELAY "motoffdelay"
#define AIRPADS "airpads"
#define SETTLE "settle"
#define BLOCKAGE_CHECK_INTERVAL "blockage_check_interval"

static int DMC2280Halt(void *pData);
static int DMC2280SetPar(void *pData, SConnection *pCon,
    char *name, float newValue);
static int DMC2280Receive(pDMC2280Driv self, /*@out@*/ char *reply);

/** \brief Convert axis speed in physical units to
 * motor speed in steps/sec.
 * \param self (r) provides access to the motor's data structure
 * \param speed in physical units, eg mm/sec degrees/sec 
 * \return the speed in motor steps/sec
 */
static int motSpeed(pDMC2280Driv self, float axisSpeed) {
  int speed; 
  speed = abs((int)(axisSpeed * self->stepsPerX + 0.5));
  return speed;
}

/** \brief Convert axis acceleration in physical units to
 * to motor speed in steps/sec^2
 * \param self (r) provides access to the motor's data structure
 * \param acceleration in physical units, eg mm/sec^2 degrees/sec^2 
 * \return the acceleration in motor steps/sec^2
 */
static int motAccel(pDMC2280Driv self, float axisAccel) {
  int accel;
  accel = abs((int)(axisAccel * self->stepsPerX + 0.5));
  return accel;
}

/** \brief Convert axis deceleration in physical units to
 * motor deceleration in steps/sec^2
 * \param self (r) provides access to the motor's data structure
 * \param deceleration in physical units, eg mm/sec^2 degrees/sec^2 
 * \return the deceleration in motor steps/sec^2
 */
static int motDecel(pDMC2280Driv self, float axisDecel) {
  int decel;
  decel = abs((int)(axisDecel * self->stepsPerX + 0.5));
  return decel;
}

/** \brief Reads a single character from the DMC2280 controller.
 *
 * On failure it sets the errorCode field in the motor's data structure
 * \param self (rw) provides access to the motor's data structure
 * \param *reply (w) the character read from the controller
 * \return
 * - SUCCESS
 * - FAILURE
 * \see SUCCESS FAILURE
 */
static int DMC2280ReadChar(pDMC2280Driv self, /*@out@*/char *reply) {
  int i, status, retries=1, dataLen=1;
  reply[0] = '\0';
  for (i=0; i<retries; i++) {
    status=readRS232(self->controller, reply, &dataLen);
    switch (status) {
      case 1:
        return SUCCESS;
      case TIMEOUT:
        self->errorCode = status;
        continue;
      default:
        self->errorCode = status;
        return FAILURE;
    }
  }
  return FAILURE;
}

/** \brief Sends a DMC2280 command to the motor controller.
 *
 * If the command fails it displays the DMC2280 error message to the client
 * and writes it to the log file, also sets errorCode field in motor's
 * data structure.
 *
 * \param self (rw) provides access to the motor's data structure
 * \param *command (r) DMC2280 command
 * \return
 * - SUCCESS
 * - FAILURE
 * \see SUCCESS FAILURE
 */
 /* First character returned by controller is
   '?' for an invalid command or
   ':' or space for a valid command */
static int DMC2280Send(pDMC2280Driv self, char *command) {
  char cmdValid, reply[256];
  char *GetEMsg = "TC 1";
  int status;

  if ((self->lastCmd) != command) {
    /*@-mayaliasunique@ this won't happen unless they overlap */
    strncpy(self->lastCmd, command, CMDLEN);
    /*@+mayaliasunique@*/
  }

  if (self->debug)
    SICSLogWrite(command, eStatus);

  /*@+matchanyintegral@ let size_t from strlen match int */
  status = writeRS232(self->controller, command, strlen(command));
  /*@-matchanyintegral@*/
  if (status != 1) {
    self->errorCode = status;
    return FAILURE;
  }

  if (FAILURE == (status = DMC2280ReadChar(self, &cmdValid))) {
    return FAILURE;
  } else {
    switch (cmdValid) {
      case ':':
      case ' ':
        return SUCCESS;
      case '?':
        /*@+matchanyintegral@ let size_t from strlen match int */
        status = writeRS232(self->controller, GetEMsg, strlen(GetEMsg));
        /*@-matchanyintegral@*/
        if (status != 1) {
          self->errorCode = status;
          return FAILURE;
        }
        if (FAILURE == DMC2280Receive(self, reply))
          return HWFault;
        strncpy(self->dmc2280Error, reply, CMDLEN);
        SICSLogWrite(reply, eError);
        self->errorCode = BADCMD;
        return FAILURE;
      default:
        self->errorCode = BADUNKNOWN;
        return FAILURE;
    }
  }
}

/** \brief Gets output from the DMC2280, the abstract motor code should
 * handle retries if the request times out.
 * 
 * Note: The timeout for readRS232TillTerm is set by DMC2280Connect
 * \param self (rw) provides access to the motor's data structure
 * \param *reply (w) the data from the DMC2280.
 * \return
 * - SUCCESS
 * - FAILURE
 * \see SUCCESS FAILURE
 */
static int DMC2280Receive(pDMC2280Driv self, /*@out@*/char *reply) {
  int i, status, retries=1, dataLen=255;
  reply[0] = '\0';
  for (i=0; i<retries; i++) {
    status=readRS232TillTerm(self->controller, reply, &dataLen);
    switch (status) {
      case 1:
        if (self->debug)
          SICSLogWrite(reply, eStatus);
        return dataLen;
      case TIMEOUT:
        self->errorCode = status;
        continue;
      /* TODO case INCOMPLETE: */
      default:
        self->errorCode = status;
        return FAILURE;
    }
  }
  return FAILURE;
}

/** \brief Record the given posn and timestamp it.
 *
 * \param *pData provides access to a motor's data
 * \param posn, the axis position which you want to remember.
 * */
static void set_lastMotion(pDMC2280Driv self, float steps, float counts) {
  assert(self != NULL);
  self->lastSteps = steps;
  self->lastCounts = counts;
  gettimeofday(&(self->time_lastPos_set), NULL);
}

#if 0
/** \brief Record the given posn and timestamp it.
 *
 * \param *pData provides access to a motor's data
 * \param posn, the axis position which you want to remember.
 * */
static void set_lastPos(pDMC2280Driv self, float posn) {
  assert(self != NULL);
  self->lastPosition = posn;
  gettimeofday(&(self->time_lastPos_set), NULL);
}

/**\brief Convenience function for getting speed, acceleration
 * or deceleration
 * 
 * \param *pData provides access to a motor's data
 * \param cmdIndex selects value to request from controller.
 * \return Either speed acceleration or deceleration as requested.
 * \see dmcsetting getMotSpeed getMotAccel getMotDecel
 */
static int getDMCSetting(void *pData, enum dmcsetting cmdIndex){
  pDMC2280Driv self = NULL;
  char cmd[CMDLEN], reply[256];
  int dmcSetting;

  self = (pDMC2280Driv)pData;
  switch (cmdIndex) {
    case dmcspeed:
      snprintf(cmd, CMDLEN, "MG _SP%c", self->axisLabel);
      break;
    case dmcacceleration:
      snprintf(cmd, CMDLEN, "MG _AC%c", self->axisLabel);
      break;
    case dmcdeceleration:
      snprintf(cmd, CMDLEN, "MG _DC%c", self->axisLabel);
  }
  if (FAILURE == DMC2280Send(self, cmd))
    return HWFault;
  if (FAILURE == DMC2280Receive(self, reply))
    return HWFault;
  dmcSetting =atoi(reply);
  return dmcSetting;
}

/** \brief Call this to make sure that the speed, 
 * acceleration and deceleration are set to the correct value.\n
 * XXX Unused: This will interfere with progs running on the 
 * controller like #LIMSWI which sets maximum deceleration when a
 * limit switch is hit.
 */
/*@unused@*/static void ckSpeedAccelDecel(pDMC2280Driv self) {
  int motSetting;
  char cmd[CMDLEN];

  motSetting = getDMCSetting(self, dmcspeed);
  /* Reset speed if it has been changed externally */
  if (motSetting != motSpeed(self, self->speed)) {
    snprintf(cmd,CMDLEN,"SP%c=%d", self->axisLabel, motSpeed(self,self->speed));
    DMC2280Send(self, cmd);
  }

    /* Reset acceleration if it has been changed externally */
    motSetting = getDMCSetting(self, dmcacceleration);
    if (motSetting != motAccel(self, self->accel)) {
    snprintf(cmd,CMDLEN,"AC%c=%d", self->axisLabel, motAccel(self,self->accel));
    DMC2280Send(self, cmd);
    }

    /* Reset deceleration if it has been changed externally */
    motSetting = getDMCSetting(self, dmcdeceleration);
    if (motSetting != motDecel(self, self->decel)) {
    snprintf(cmd,CMDLEN,"DC%c=%d", self->axisLabel, motDecel(self,self->decel));
    DMC2280Send(self, cmd);
    }
}
#endif

/** \brief Reads motion.
 *
 * \param *steps motor steps
 * \param *counts encoder counts
 * \return
 * SUCCESS
 * FAILURE
 */
static int readMotion(pDMC2280Driv self, float *steps, float *counts) {
  char reply[1024];
  char cmd[CMDLEN];

  snprintf(cmd, CMDLEN, "MG _TD%c,_TP%c", self->axisLabel, self->axisLabel);
  if (FAILURE == DMC2280Send(self, cmd)) 
    return FAILURE; 
  if (FAILURE == DMC2280Receive(self, reply)) 
    return FAILURE;

  if (2 != sscanf(reply, "%f %f", steps, counts))
    return FAILURE;
  return SUCCESS;
}

/** \brief Reads absolute encoder.
 *
 * \param *pos is the absolute encoder reading on SUCCESS.
 * \return
 * SUCCESS
 * FAILURE
 */
static int readAbsEnc(pDMC2280Driv self, float *pos) {
  char reply[1024];
  char cmd[CMDLEN];

  snprintf(cmd, CMDLEN, "TP%c", self->axisLabel);
  if (FAILURE == DMC2280Send(self, cmd)) 
    return FAILURE; 
  if (FAILURE == DMC2280Receive(self, reply)) 
    return FAILURE;

  *pos = (float) atoi(reply);
  return SUCCESS;
}

/** \brief Reads Thread variable
 *
 * \param *pos is the thread variable value on SUCCESS.
 * \return
 * SUCCESS
 * FAILURE
 */
static int ReadThread(pDMC2280Driv self, int thread, float *pos) {
  char reply[1024];
  char cmd[CMDLEN];

  snprintf(cmd, CMDLEN, "MG _XQ%d", thread);
  if (FAILURE == DMC2280Send(self, cmd)) 
    return 0; 
  if (FAILURE == DMC2280Receive(self, reply)) 
    return 0;

  *pos = (float) atoi(reply);
  return 1;
}

/** \brief Reads HOMERUN variable
 *
 * \param *pos is the homerun variable value on SUCCESS.
 * \return
 * SUCCESS
 * FAILURE
 */
static int readHomeRun(pDMC2280Driv self, float *pos) {
  char reply[1024];
  char cmd[CMDLEN];

  snprintf(cmd, CMDLEN, "MG HOMERUN");
  if (FAILURE == DMC2280Send(self, cmd)) 
    return FAILURE; 
  if (FAILURE == DMC2280Receive(self, reply)) 
    return FAILURE;

  *pos = (float) atoi(reply);
  return SUCCESS;
}

/** \brief Runs the HOMERUN routine on the MC
 *
 * \return
 * SUCCESS
 * FAILURE
 */
static int RunHomeRoutine(pDMC2280Driv self, float newValue) {
  float fValue;
  char cmd[CMDLEN];

  /* Read HOMERUN should get error if it does not have one */
  if (FAILURE == readHomeRun(self, &fValue))
    return FAILURE;

  /* 0 => reset homerun */
  if (newValue < 0.5) {
    snprintf(cmd, CMDLEN, "HOMERUN=0");
    if (FAILURE == DMC2280Send(self, cmd)) 
      return FAILURE; 
    return SUCCESS;
  }
  snprintf(cmd, CMDLEN, "XQ #HOME,1");
  if (FAILURE == DMC2280Send(self, cmd)) 
    return FAILURE; 

  return SUCCESS;
}

/** \brief Reads motor position, implements the GetPosition
 * method in the MotorDriver interface.
 *
 * \param *pData provides access to a motor's data
 * \param *fPos contains the motor position in physical units after a call.
 * \return
 * - OKOK request succeeded
 * - HWFault request failed
 * */
static int DMC2280GetPos(void *pData, float *fPos){
  pDMC2280Driv self = NULL;
  char reply[1024];
  char cmd[CMDLEN];
  float absEncPos, motorPos;

  reply[0]='\0';
  self = (pDMC2280Driv)pData;
  assert(self != NULL);
  if (1 == self->abs_endcoder) {
    if (readAbsEnc(self, &absEncPos) == FAILURE)
      return HWFault;
    *fPos = (absEncPos - self->absEncHome)/self->cntsPerX + self->home;
  } else {
    snprintf(cmd, ERRLEN, "TD%c", self->axisLabel);
    if (FAILURE == DMC2280Send(self, cmd))
      return HWFault;
    if (FAILURE == DMC2280Receive(self, reply))
      return HWFault;
    motorPos =(float)atof(reply);
    *fPos = (motorPos - self->motorHome)/self->stepsPerX + self->home;
  }
  return OKOK;
}

static int DMC2280Run(void *pData,float fValue);

static int airpad_callback(void* context, int mode) {
  pDMC2280Driv self = (pDMC2280Driv) context;
  char reply[1024];
  float fReply;

  self->airpad_timer = NULL;
  if (FAILURE == DMC2280Send(self, "MG APDONE")) {
    self->errorCode = BADCUSHION;
    self->airpad_state = AIRPADS_DOWN;
    return 0;
  }
  if (FAILURE == DMC2280Receive(self, reply)) {
    self->errorCode = BADCUSHION;
    self->airpad_state = AIRPADS_DOWN;
    return 0;
  }
  fReply = (float) atof(reply);
  if (self->airpad_state == AIRPADS_RAISE && fReply > 0) {
    int iRet;
    self->airpad_state = AIRPADS_UP;
    iRet = DMC2280Run(self, self->fTarget);
    if (iRet != OKOK)
      self->errorCode = BADCUSHION;
    return 0;
  }
  if (self->airpad_state == AIRPADS_LOWER && fReply == 0) {
    self->airpad_state = AIRPADS_DOWN;
    return 0;
  }
  if (self->airpad_counter <= 0) {
    self->errorCode = BADCUSHION;
    self->airpad_state = AIRPADS_DOWN;
    return 0;
  }
  --self->airpad_counter;
  NetWatchRegisterTimer(&self->airpad_timer, 1000,
      airpad_callback, self);
  return 0;
}

static int motor_callback(void* context, int mode) {
  pDMC2280Driv self = (pDMC2280Driv) context;
  char cmd[CMDLEN];

  self->motor_timer = NULL;
  if (self->has_airpads) {
    if (FAILURE == DMC2280Send(self, "FTUBE=0")) {
      self->errorCode = BADCUSHION;
      return 0;
    }
    self->airpad_state = AIRPADS_LOWER;
    self->airpad_counter = 10;
    NetWatchRegisterTimer(&self->airpad_timer, 1000,
        airpad_callback, self);
    return 0;
  }
  snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
  DMC2280Send(self, cmd);
  return 0;
}

static int DMC2280RunAir(void *pData, float fValue) {
  pDMC2280Driv self = (pDMC2280Driv)pData;

  self->fTarget = fValue;
  if (self->airpad_timer)
    NetWatchRemoveTimer(self->airpad_timer);
  self->airpad_timer = NULL;
  if (FAILURE == DMC2280Send(self, "FTUBE=1"))
    return HWFault;
  self->airpad_state = AIRPADS_RAISE;
  self->airpad_counter = 10;
  NetWatchRegisterTimer(&self->airpad_timer, 1000,
      airpad_callback, self);
  return OKOK;
}

/** \brief DMC2280 implementation of the RunTo
 * method in the MotorDriver interface.
 *
 * \param *pData provides access to a motor's data
 * \param fValue target position in physical units, software zeros
 * have already been applied.
 * \return
 * - OKOK request succeeded
 * - HWFault request failed
 * */
static int DMC2280Run(void *pData,float fValue){
  pDMC2280Driv self = NULL;
  char axis;
  char SHx[CMDLEN], BGx[CMDLEN], absPosCmd[CMDLEN];
  int absEncHome, stepsPerX, motorHome, cntsPerX, newAbsPosn;
  float target;
  self = (pDMC2280Driv)pData;
  assert(self != NULL);

  /* If Motion Control is off, report HWFault */
  if (DMC2280MotionControl != 1) {
    self->errorCode = MOTIONCONTROL;
    return HWFault;
  }

  if (self->motor_timer)
    NetWatchRemoveTimer(self->motor_timer);
  self->motor_timer = NULL;

  if (self->has_airpads)
    if (self->airpad_state != AIRPADS_UP)
      return DMC2280RunAir(self, fValue);

  if (self->settle)
    self->time_settle_done.tv_sec = 0;

  do {
#if 1
    float steps, counts;
    if (FAILURE == readMotion(self, &steps, &counts))
      return HWFault;
    set_lastMotion(pData, steps, counts);
#else
    float currPos;
    DMC2280GetPos(pData, &currPos);
    set_lastPos(pData, currPos);
#endif
  } while (0);
  axis=self->axisLabel;
  motorHome = self->motorHome;
  stepsPerX=self->stepsPerX;
  snprintf(SHx, CMDLEN, "SH%c", axis);
  snprintf(BGx, CMDLEN, "BG%c", axis);
  target = fValue - self->home;

  if (1 == self->abs_endcoder) {
    absEncHome = self->absEncHome;
    cntsPerX = self->cntsPerX;
    /* PAF=-((absEncHome-_TPF)/-cntsPerX + target)*stepsPerX + _TDF */
    snprintf(absPosCmd, CMDLEN,
        "PA%c=(((%d-_TP%c)/%d)+%f)*%d + _TD%c",
        axis,
        absEncHome,
        axis,
        cntsPerX,
        target,
        stepsPerX,
        axis);
#ifdef BACKLASHFIX
    do {
      char cmd[CMDLEN];
      snprintf(cmd, CMDLEN, "%cQTARGET=%d", axis,
          (int) (target * cntsPerX + absEncHome + 0.5));
      if (FAILURE == DMC2280Send(self, cmd))
        return HWFault;
    } while (0);
#endif
  } else {
    newAbsPosn = (int)(target * stepsPerX + motorHome + 0.5);
    snprintf(absPosCmd, CMDLEN, "PA%c=%d",axis, newAbsPosn);
  }

  if (FAILURE == DMC2280Send(self, SHx))
    return HWFault;
  if (FAILURE == DMC2280Send(self, absPosCmd))
      return HWFault;
  if (FAILURE == DMC2280Send(self, BGx))
    return HWFault;
  return OKOK;
}

/** \brief Check if the axis has moved significantly since
 * the last check.
 *
 * The motion is checked against the expected at intervals of
 * pDMC2280Driv->blockage_ckInterval. 
 *
 * \param *pData provides access to a motor's data
 * \return
 * - 1 MOTOR OK, position has changed significantly during move
 * - 0 MOTOR BLOCKED, no significant change in position detected. 
 */
static int checkMotion(void *pData) {
  float precision, steps, counts, ratio_obs, ratio_exp, ratio_cmp;
  long int usec_TimeDiff;
  struct timeval now;

  pDMC2280Driv self;
  self = (pDMC2280Driv)pData;
  assert(self != NULL);
  gettimeofday(&now, NULL);
  usec_TimeDiff = now.tv_sec - self->time_lastPos_set.tv_sec;
  usec_TimeDiff *= 1000000;
  usec_TimeDiff += now.tv_usec;
  usec_TimeDiff -= self->time_lastPos_set.tv_usec;
  if (usec_TimeDiff < (long int)(1e6*self->blockage_ckInterval))
    return 1;
  if (self->pMot == NULL)
    self->pMot = FindMotor(pServ->pSics, self->name);
  MotorGetPar(self->pMot,"precision",&precision);
  if (FAILURE == readMotion(self, &steps, &counts))
    return 0;
  /* If not stepping, then not blocked */
  if (fabs(steps - self->lastSteps) < self->blockage_thresh * self->cntsPerX) {
    /* just update the timestamp */
    set_lastMotion(pData, self->lastSteps, self->lastCounts);
    return 1;
  }
  /* calculate observed and expected steps per count ratios */
  ratio_obs = (steps - self->lastSteps) / (counts - self->lastCounts);
  ratio_exp = (float) self->stepsPerX / (float) self->cntsPerX;
  ratio_cmp = ratio_obs / ratio_exp;
  /* less than half or more than double is trouble */
  if (ratio_cmp > self->blockage_ratio || (1.0 / ratio_cmp) > self->blockage_ratio) {
    char msg[132];
    snprintf(msg, sizeof(msg), "Motion check fail: obs=%f, exp=%f",
        ratio_obs, ratio_exp);
    SICSLogWrite(msg, eError);
    snprintf(msg, sizeof(msg), "steps=%f-%f, counts=%f-%f, exp=%d/%d",
        steps, self->lastSteps, counts, self->lastCounts,
        self->stepsPerX, self->cntsPerX);
    SICSLogWrite(msg, eError);
    if (self->blockage_fail)
      return 0;
    set_lastMotion(pData, steps, counts);
    return 1;
  } else {
    set_lastMotion(pData, steps, counts);
    return 1;
  }
  return 1;
}

#if 0
/** \brief Check if the axis position has changed significantly since
 * the last check.
 *
 * The position change is checked against the 'precision' at intervals of
 * pDMC2280Driv->blockage_ckInterval. 
 *
 * \param *pData provides access to a motor's data
 * \return
 * - 1 MOTOR OK, position has changed significantly during move
 * - 0 MOTOR BLOCKED, no significant change in position detected. 
 */
static int checkPosition(void *pData) {
  float precision, currPos;
  long int usec_TimeDiff;
  struct timeval now;

  pDMC2280Driv self;
  self = (pDMC2280Driv)pData;
  assert(self != NULL);
  gettimeofday(&now, NULL);
  usec_TimeDiff = (now.tv_sec - (self->time_lastPos_set).tv_sec)*1e6 + (now.tv_usec - (self->time_lastPos_set).tv_usec);
  if (usec_TimeDiff < (long int)(1e6*self->blockage_ckInterval))
    return 1;
  if (self->pMot == NULL)
    self->pMot = FindMotor(pServ->pSics, self->name);
  MotorGetPar(self->pMot,"precision",&precision);
  DMC2280GetPos(pData, &currPos);
  if ( precision - fabs(self->lastPosition - currPos) >= FLT_EPSILON) {
    return 0;
  } else {
    set_lastPos(pData, currPos);
    return 1;
  }
}
#endif

/** \brief Returns the motor status while it's moving,
 * implements the GetStatus method in the MotorDriver interface.
 *
 * \param *pData provides access to a motor's data
 * \return
 * - HWFault hardware fault or status cannot be read.
 * - HWPosFault controller was unable to position the motor.
 * - HWBusy The motor is still driving.
 * - HWWarn There is a warning from the controller.
 * - HWIdle The motor has finished driving and is idle.
 */
static int DMC2280Status(void *pData){
  pDMC2280Driv self = NULL;
  char cmd[CMDLEN];
  int switches;
  char switchesAscii[10];
#ifdef BACKLASHFIX
  char reply[256];
  int SERVO_LOOP_NOT_RUNNING = -1, servoLoopStatus;
  int SHOULD_FIXPOS=1, should_fixpos;
#endif
  bool moving, fwd_limit_active, rvrs_limit_active, errorlimit;

  self = (pDMC2280Driv)pData;
  assert(self != NULL);

  /*
   * If we are waiting for the motor or airpads then we
   * are busy
   */
  if (self->motor_timer || self->airpad_timer)
    return HWBusy;

  /* Make sure that speed, accel and decel are set correctly */
  /* ckSpeedAccelDecel(self); */
  /* Get status of switches
   * see TS (Tell Switches) in Galil manc2xx.pdf */
  snprintf(cmd, CMDLEN, "TS%c", self->axisLabel);
  if (FAILURE == DMC2280Send(self, cmd))
    return HWFault;
  if (FAILURE == DMC2280Receive(self, switchesAscii))
    return HWFault;
  sscanf(switchesAscii, "%d", &switches);
  moving = (switches & STATUSMOVING)>0;
  fwd_limit_active = !((switches & STATUSFWDLIMIT)>0);
  rvrs_limit_active = !((switches & STATUSRVRSLIMIT)>0);
  errorlimit = (switches & STATUSERRORLIMIT)>0;

  if (fwd_limit_active && rvrs_limit_active) {
    self->errorCode = IMPOSSIBLE_LIM_SW;
    return HWFault;
  }
  if (moving) {
    int iRet;
    /* If Motion Control is off, report HWFault */
    if (DMC2280MotionControl != 1) {
      self->errorCode = MOTIONCONTROL;
      return HWFault;
    }
    /* If pos hasn't changed since last 
     * check then stop and scream */
#if 0
    iRet = checkPosition(pData);
#else
    iRet = checkMotion(pData);
#endif
    if (iRet == 0) {
      DMC2280Halt(pData);
      self->errorCode = BLOCKED;
      return HWFault;
    } else {
      self->errorCode = BADBSY;
      return HWBusy;
    }
  } else {
    /* If motor stopped check limits and error status */
    if (fwd_limit_active) {
      self->errorCode = FWDLIM;
      return HWFault;
    } else if (rvrs_limit_active) {
      self->errorCode = RVRSLIM;
      return HWFault;
    } else if (errorlimit) {
      self->errorCode = ERRORLIM;
      return HWFault;
    }
#ifdef BACKLASHFIX
    if (self->abs_endcoder == 1) {
      /* Make sure that the servo loop is closed by checking if
       * the CLSLOOP thread is running on the controller.*/
      if (FAILURE == DMC2280Send(self, "MG _XQ1"))
        return HWFault;
      if (FAILURE == DMC2280Receive(self, reply))
        return HWFault;
      sscanf(reply, "%d", &servoLoopStatus);
      if (servoLoopStatus == SERVO_LOOP_NOT_RUNNING) {
        /* Start subroutine on controller to close the servo loop */
        if (FAILURE == DMC2280Send(self, "XQ#CLSLOOP"))
          return HWFault;
      }
      snprintf(cmd, CMDLEN, "MG %cSHLDFIX", self->axisLabel);
      if (FAILURE == DMC2280Send(self, cmd))
        return HWFault;
      if (FAILURE == DMC2280Receive(self, reply))
        return HWFault;
      sscanf(reply, "%d", &should_fixpos);
      if (should_fixpos == SHOULD_FIXPOS) {
        snprintf(cmd, CMDLEN, "%cFIXPOS=1", self->axisLabel);
        if (FAILURE == DMC2280Send(self, cmd))
          return HWFault;
        self->errorCode=BADBSY;
        return HWBusy;
      }
    }
#endif
    /*
     * When we get here, the motion has completed and we
     * must determine when and how to shut off the motor
     */
    if (self->settle) {
      struct timeval *then = &self->time_settle_done;
      struct timeval now;
      gettimeofday(&now, NULL);
      if (then->tv_sec == 0 ||
          (then->tv_sec - now.tv_sec) > self->settle) {
        gettimeofday(then, NULL);
        then->tv_sec += self->settle;
        return HWBusy;
      } else {
        if ((now.tv_sec > then->tv_sec) ||
            ((now.tv_sec == then->tv_sec) &&
            (now.tv_usec >= then->tv_usec))) {
          /* it's finished, fall through */
        } else {
          return HWBusy;
        }
      }
    }
    if (self->has_airpads) {
      if (self->airpad_state == AIRPADS_DOWN)
        return HWIdle;
      if (self->airpad_state == AIRPADS_LOWER)
        return HWBusy;
      if (self->motOffDelay > 0 ) {
        NetWatchRegisterTimer(&self->motor_timer,
            self->motOffDelay,
            motor_callback, self);
        return HWIdle;
      }
      if (FAILURE == DMC2280Send(self, "FTUBE=0"))
        return HWFault;
      self->airpad_state = AIRPADS_LOWER;
      self->airpad_counter = 10;
      NetWatchRegisterTimer(&self->airpad_timer, 1000,
          airpad_callback, self);
      return HWIdle;
    }
    if (self->noPowerSave == _SAVEPOWER) {
      if (self->motOffDelay > 0 ) {
#if 0
        snprintf(cmd, CMDLEN, "AT %d; MO%c", self->motOffDelay, self->axisLabel);
#else
      NetWatchRegisterTimer(&self->motor_timer,
          self->motOffDelay,
          motor_callback, self);
      return HWIdle;
#endif
      } else {
        snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
      }
      DMC2280Send(self, cmd);
    }
    return HWIdle;
  }
}
/** \brief DMC2280 implementation of the GetError
 * method in the MotorDriver interface.
 *
 * \param *pData provides access to a motor's data
 * \param *iCode error code returned to abstract motor
 * \param *error error message
 * \param errLen maximum error message length allowed by abstract motor
 */
static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
  pDMC2280Driv self = NULL;
  self = (pDMC2280Driv)pData;
  assert(self != NULL);

  /* Allocate errLen bytes for error messages */
  if (self->errorMsg == NULL) {
    self->errorMsg = (char *) malloc(errLen);
    if (self->errorMsg == NULL) {
      *iCode = 0;
      return; 
    }
  }
  *iCode = self->errorCode;
  switch(*iCode){
    case NOTCONNECTED:
    case TIMEOUT:
    case BADSEND:
    case BADMEMORY:
    case INCOMPLETE:
      getRS232Error(*iCode, error, errLen);
      break;
    case BADADR:
      strncpy(error,"Bad address",(size_t)errLen);
      break;
    case BADBSY:
      strncpy(error,"Motor still busy",(size_t)errLen);
      break;
    case BADCMD:
      snprintf(error, (size_t)errLen, "Bad command: '%s'\ndmcError: ", self->lastCmd);
      strncat(error, self->dmc2280Error, (size_t)errLen);
      break;
    case BADPAR:
      strncpy(error,"Bad parameter",(size_t)errLen);
      break;
    case BADUNKNOWN:
      strncpy(error,"Unknown error condition",(size_t)errLen);
      break;
    case BADSTP:
      strncpy(error,"Motor is stopped",(size_t)errLen);
      break;
    case BADEMERG:
      strncpy(error,"Emergency stop is engaged",(size_t)errLen);
      break;
    case BGFAIL:
      strncpy(error,"Begin not possible due to limit switch",(size_t)errLen);
      break;
    case RVRSLIM:
      strncpy(error,"Crashed into limit switch",(size_t)errLen);
      break;
    case FWDLIM:
      strncpy(error,"Crashed into limit switch",(size_t)errLen);
      break;
    case POSFAULT:
      strncpy(error,"Positioning fault detected",(size_t)errLen);
      break;
    case BADCUSHION:
      strncpy(error,"Air cushion problem",(size_t)errLen);
      break;
    case ERRORLIM:
      strncpy(error,"Axis error exceeds error limit",(size_t)errLen);
      break;
    case IMPOSSIBLE_LIM_SW:
      strncpy(error,"Both limit switches seem active, maybe the polarity is set 'active low'. You should configure the controller with CN 1,-1,-1,0", (size_t)errLen);
      break;
    case BLOCKED:
      strncpy(error,"STOPPING MOTOR, MOTION SEEMS TO BE BLOCKED", (size_t)errLen);
      break;
    case MOTIONCONTROL:
      strncpy(error,"MOTION CONTROL SEEMS TO BE DISABLED", (size_t)errLen);
      break;
    default:
      /* FIXME What's the default */
      break;
  }
  strncpy(self->errorMsg,error,(size_t)errLen);
}

/** \brief Attempts to recover from an error. Implements the TryAndFixIt
 * method in the MotorDriver interface.
 *
 * \param *pData provides access to a motor's data
 * \param iCode error code returned by DMC2280Error
 * \param fValue unused, target position
 * \return A return code which informs the abstract motors next action.
 * - MOTREDO try to redo the last move.
 * - MOTFAIL move failed, give up.
 */
static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
  pDMC2280Driv self = NULL;

  self = (pDMC2280Driv)pData;
  assert(self != NULL);

  switch(iCode){
    case BADADR:
      return MOTFAIL;
    case BADCMD:
      //case TIMEOUT:
    case BADPAR:
    case BLOCKED:
    case MOTIONCONTROL:
      return MOTFAIL;
    case POSFAULT:
    case BADSEND:  
    case TIMEOUT:
    case BADMEMORY: /* Won't happen if MonConnect sets the send terminator */
    case INCOMPLETE:
      return MOTREDO;
    case NOTCONNECTED:
      initRS232(self->controller);
      return MOTREDO;
      break;
    default:
      return MOTFAIL;
      break;
  }
}
/** \brief Emergency halt. Implements the Halt
 * method in the MotorDriver interface.
 *
 * Cannot set maximum deceleration because the DC command
 * is not valid for absolute (ie PA) moves. See DC description
 * in DMC-2xxx command ref (ie manc2xxx.pdf)
 * \param *pData provides access to a motor's data
 *
 * XXX Does abstract motor use the return values?
 */
static int DMC2280Halt(void *pData){
  pDMC2280Driv self = NULL;
  char cmd[CMDLEN];

  self = (pDMC2280Driv)pData;
  assert(self != NULL);
  /* Stop motor */
  snprintf(cmd, CMDLEN, "ST%c", self->axisLabel);
  if (FAILURE == DMC2280Send(self, cmd))
    return HWFault; 
  snprintf(cmd, CMDLEN, "MO%c", self->axisLabel);
  if (FAILURE == DMC2280Send(self, cmd))
    return HWFault; 
  else
    return 1;
}

/** \brief Fetches the value of the named parameter,
 * implements the GetDriverPar method in the MotorDriver interface.
 *
 * Note: The GetDriverPar method in the MotorDriver interface only
 * allows float values to be returned.
 *
 * If the speed, acceleration or deceleration is requested then 
 * this compares the setting on the controller to the required setting,
 * if they don't match then the controller is set to the required value.
 *
 * Note: Doesn't warn if the speed, acceleration, or deceleration set on
 * the controller differ from the required settings.
 * 
 * \param *pData (r) provides access to a motor's data
 * \param *name (r) the name of the parameter to fetch.
 * \param *fValue (w) the parameter's value.
 * \return
 * - 1 request succeeded
 * - 0 request failed
 * */
static int DMC2280GetPar(void *pData, char *name,
    float *fValue){
  pDMC2280Driv self = NULL;

  self = (pDMC2280Driv)pData;

  /* XXX Maybe move this to a configuration parameter.*/
  if(strcmp(name,HOME) == 0) {
    *fValue = self->home;
    return 1;
  } 
  if(strcmp(name,HARDLOWERLIM) == 0) {
    *fValue = self->fLower;
    return 1;
  }
  if(strcmp(name,HARDUPPERLIM) == 0) {
    *fValue = self->fUpper;
    return 1;
  }
  if(strcmp(name,SPEED) == 0) {
    *fValue = self->speed;
    return 1;
  }
  if(strcmp(name,MAXSPEED) == 0) {
    *fValue = self->maxSpeed;
    return 1;
  }
  if(strcmp(name,ACCEL) == 0) {
    *fValue = self->accel;
    return 1;
  }
  if(strcmp(name,MAXACCEL) == 0) {
    *fValue = self->maxAccel;
    return 1;
  }
  if(strcmp(name,DECEL) == 0) {
    *fValue = self->decel;
    return 1;
  }
  if(strcmp(name,MAXDECEL) == 0) {
    *fValue = self->maxDecel;
    return 1;
  }
  if(strcmp(name,MOTOFFDELAY) == 0) {
    *fValue = self->motOffDelay;
    return 1;
  }
  if(strcmp(name,"debug") == 0) {
    *fValue = self->debug;
    return 1;
  }
  if(strcmp(name,SETTLE) == 0) {
    *fValue = self->settle;
    return 1;
  }
  if(strcmp(name,AIRPADS) == 0) {
    *fValue = self->has_airpads;
    return 1;
  }
  if(strcmp(name,BLOCKAGE_CHECK_INTERVAL) == 0) {
    *fValue = self->blockage_ckInterval;
    return 1;
  }
  if(strcmp(name,"blockage_thresh") == 0) {
    *fValue = self->blockage_thresh;
    return 1;
  }
  if(strcmp(name,"blockage_ratio") == 0) {
    *fValue = self->blockage_ratio;
    return 1;
  }
  if(strcmp(name,"blockage_fail") == 0) {
    *fValue = self->blockage_fail;
    return 1;
  }
  if (self->abs_endcoder != 0) {
    if (strcmp(name,"absenc") == 0) {
      if (readAbsEnc(self, fValue) == SUCCESS)
        return 1;
      else
        return 0;
    }
  }
  else {
    if (strcmp(name,"homerun") == 0) {
      if (readHomeRun(self, fValue) == SUCCESS)
        return 1;
      else
        return 0;
    }
  }
  if(strcmp(name,"thread0") == 0)
    return ReadThread(self, 0, fValue);
  if(strcmp(name,"thread1") == 0)
    return ReadThread(self, 1, fValue);
  if(strcmp(name,"thread2") == 0)
    return ReadThread(self, 2, fValue);
  if(strcmp(name,"thread3") == 0)
    return ReadThread(self, 3, fValue);
  if(strcmp(name,"thread4") == 0)
    return ReadThread(self, 4, fValue);
  if(strcmp(name,"thread5") == 0)
    return ReadThread(self, 5, fValue);
  if(strcmp(name,"thread6") == 0)
    return ReadThread(self, 6, fValue);
  if(strcmp(name,"thread7") == 0)
    return ReadThread(self, 7, fValue);
  return 0;
}

/** \brief Sets the named parameter, implements the SetDriverPar
 * method in the MotorDriver interface.
 *
 * Note: The SetDriverPar method in the MotorDriver interface only
 * allows float values to be set.
 * \param *pData (rw) provides access to a motor's data
 * \param *pCon (r) connection object.
 * \param *name (r) of the parameter to set.
 * \param *newValue (r) new value.
 * \return
 * - 1 request succeeded
 * - 0 request failed
 * */
static int DMC2280SetPar(void *pData, SConnection *pCon,
    char *name, float newValue){
  pDMC2280Driv self = NULL;
  char pError[ERRLEN];
  char cmd[CMDLEN];
  float oldZero, newZero;

  self = (pDMC2280Driv)pData;

  /* XXX Maybe move this to a configuration parameter.*/
  /* Set home, managers only. Users should set softposition */
  if(strcmp(name,HOME) == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      if ( (self->fLower - newValue) > FLT_EPSILON) {
        snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, HOME, self->fLower);
        SCWrite(pCon, pError, eError);
        return 1;
      }
      if ( (newValue - self->fUpper) > FLT_EPSILON) {
        snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, HOME, self->fUpper);
        SCWrite(pCon, pError, eError);
        return 1;
      }
      self->home = newValue;
      return 1;
    }
  }

  if(strcmp(name,SETPOS) == 0) {
    if (self->pMot == NULL)
      self->pMot = FindMotor(pServ->pSics, self->name);
    MotorGetPar(self->pMot,"softzero",&oldZero);
    newZero = (self->pMot->fPosition - newValue) + oldZero;
    MotorSetPar(self->pMot,pCon,"softzero",newZero);
    return 1;
  }

  /* Set motor off delay, managers only */
  if(strcmp(name,MOTOFFDELAY) == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->motOffDelay = newValue;
      return 1;
    }
  }

  /* Debug, managers only */
  if(strcmp(name,"debug") == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->debug = newValue;
      return 1;
    }
  }

  /* Setttle, managers only */
  if(strcmp(name,SETTLE) == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->settle = newValue;
      return 1;
    }
  }

  /* Set airpads, managers only */
  if(strcmp(name,AIRPADS) == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->has_airpads = newValue;
      return 1;
    }
  }

  /* Set interval between blocked motor checks,
   * managers only */
  if(strcmp(name,BLOCKAGE_CHECK_INTERVAL) == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->blockage_ckInterval = newValue;
      return 1;
    }
  }

  /* Set movement threshold for blocked motor checks,
   * managers only */
  if(strcmp(name,"blockage_thresh") == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->blockage_thresh = newValue;
      return 1;
    }
  }

  /* Set ratio for blocked motor checks,
   * managers only */
  if(strcmp(name,"blockage_ratio") == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->blockage_ratio = newValue;
      return 1;
    }
  }

  /* Set blocked motor checks failure mode,
   * managers only */
  if(strcmp(name,"blockage_fail") == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      self->blockage_fail = newValue;
      return 1;
    }
  }

  /* Invoke Home Run routine in controller,
   * managers only */
  if(self->abs_endcoder == 0 && strcmp(name,"homerun") == 0) {
    if(!SCMatchRights(pCon,usMugger))
      return 1;
    else {
      if (DMC2280MotionControl != 1 && newValue > 0.5) {
        snprintf(pError, ERRLEN,"ERROR: Motion Control must be on");
        SCWrite(pCon, pError, eError);
      }
      RunHomeRoutine(self, newValue);
      return 1;
    }
  }

  /* Set speed */
  if(strcmp(name,SPEED) == 0) {
    if ((0.0 - newValue) > FLT_EPSILON) {
      snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, SPEED, 0.0);
      SCWrite(pCon, pError, eError);
      return 1;
    }
    if ((newValue - self->maxSpeed ) > FLT_EPSILON) {
      snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, SPEED, self->maxSpeed);
      SCWrite(pCon, pError, eError);
      return 1;
    }
    self->speed = newValue;
    snprintf(cmd,CMDLEN,"SP%c=%d", self->axisLabel, motSpeed(self, self->speed));
    if (FAILURE == DMC2280Send(self, cmd))
      return 0; /* FIXME should signal a HWFault */
    return 1;
  }

  /* Set Acceleration */
  if(strcmp(name,ACCEL) == 0) {
    if ((0.0 - newValue) > FLT_EPSILON) {
      snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, ACCEL, 0.0);
      SCWrite(pCon, pError, eError);
      return 1;
    }
    if ((newValue - self->maxAccel ) > FLT_EPSILON) {
      snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, ACCEL, self->maxAccel);
      SCWrite(pCon, pError, eError);
      return 1;
    }
    self->accel = newValue;
    snprintf(cmd,CMDLEN,"AC%c=%d", self->axisLabel, motAccel(self, self->accel));
    if (FAILURE == DMC2280Send(self, cmd))
      return 0; /* FIXME should signal a HWFault */
    return 1;
  }

  /* Set Deceleration */
  if(strcmp(name,DECEL) == 0) {
    if ((0.0 - newValue) > FLT_EPSILON) {
      snprintf(pError, ERRLEN,"ERROR:'%s %s' must be greater than or equal to %f", self->name, DECEL, 0.0);
      SCWrite(pCon, pError, eError);
      return 1;
    }
    if ((newValue - self->maxDecel ) > FLT_EPSILON) {
      snprintf(pError, ERRLEN,"ERROR:'%s %s' must be less than or equal to %f", self->name, DECEL, self->maxDecel);
      SCWrite(pCon, pError, eError);
      return 1;
    }
    self->decel = newValue;
    snprintf(cmd,CMDLEN,"DC%c=%d", self->axisLabel, motDecel(self, self->decel));
    if (FAILURE == DMC2280Send(self, cmd))
      return 0; /* FIXME should signal a HWFault */
    return 1;
  }

  return 0;
}
/** \brief List the motor parameters to the client.
 * \param self (r) provides access to the motor's data structure
 * \param *name (r) name of motor.
 * \param *pCon (r) connection object.
 */
static void DMC2280List(void *self, char *name, SConnection *pCon){
  char buffer[BUFFLEN];

  snprintf(buffer, BUFFLEN, "%s.axis = %c\n", name, ((pDMC2280Driv)self)->axisLabel);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.home = %f\n", name, ((pDMC2280Driv)self)->home);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.units = %s\n", name, ((pDMC2280Driv)self)->units);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.speed = %f\n", name, ((pDMC2280Driv)self)->speed);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.maxSpeed = %f\n", name, ((pDMC2280Driv)self)->maxSpeed);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.accel = %f\n", name, ((pDMC2280Driv)self)->accel);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.maxAccel = %f\n", name, ((pDMC2280Driv)self)->maxAccel);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.decel = %f\n", name, ((pDMC2280Driv)self)->decel);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.maxDecel = %f\n", name, ((pDMC2280Driv)self)->maxDecel);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.motOffDelay = %d\n", name, ((pDMC2280Driv)self)->motOffDelay);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.Debug = %d\n", name, ((pDMC2280Driv)self)->debug);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.Settle = %d\n", name, ((pDMC2280Driv)self)->settle);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.Blockage_Check_Interval = %f\n", name, ((pDMC2280Driv)self)->blockage_ckInterval);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.Blockage_Thresh = %f\n", name, ((pDMC2280Driv)self)->blockage_thresh);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.Blockage_Ratio = %f\n", name, ((pDMC2280Driv)self)->blockage_ratio);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.Blockage_Fail = %d\n", name, ((pDMC2280Driv)self)->blockage_fail);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.AirPads = %d\n", name, ((pDMC2280Driv)self)->has_airpads);
  SCWrite(pCon, buffer, eStatus);
  snprintf(buffer, BUFFLEN, "%s.absEnc = %d\n", name, ((pDMC2280Driv)self)->abs_endcoder);
  SCWrite(pCon, buffer, eStatus);
  if (((pDMC2280Driv)self)->abs_endcoder) {
    snprintf(buffer, BUFFLEN, "%s.absEncHome = %d\n", name, ((pDMC2280Driv)self)->absEncHome);
    SCWrite(pCon, buffer, eStatus);
    snprintf(buffer, BUFFLEN, "%s.cntsPerX = %d\n", name, ((pDMC2280Driv)self)->cntsPerX);
    SCWrite(pCon, buffer, eStatus);
  }
  return;
}
/** \brief Free memory if motor is removed
 * \param *pData (rw) provides access to the motor's data structure
 */
static void KillDMC2280(/*@only@*/void *pData){
  pDMC2280Driv self = NULL;
  self = (pDMC2280Driv)pData;
  assert(self != NULL);
  if (self->name) 
    free(self->name);
  if (self->errorMsg)
    free(self->errorMsg);
  free(self); 
  return;
}
/*@only@*/ prs232 createRS232(char *host, int iPort);
/** \brief Open a connection to the motor controller
 * \param *pCon (r) connection object.
 * \param *host (r) DMC2280 host address or name.
 * \param port DMC2280 port number
 * \return controller structure
 */
/*@null@*/ /*@only@*/ static prs232 DMC2280Connect(/*@dependent@*/SConnection *pCon, char *host, int port) {
  prs232 controller=NULL;
  char pError[ERRLEN];
  int msecTimeout = 5000;

  controller=createRS232(host,port);
  if (controller==NULL)  {
    snprintf(pError, ERRLEN,
        "ERROR: failed to create controller for %s at port %d",
        host, port);
    SCWrite(pCon,pError,eError);
    return NULL;
  }
  if ( initRS232(controller) != 1) {
    snprintf(pError, ERRLEN,
        "ERROR: failed to connect to %s at port %d",
        controller->pHost, controller->iPort);
    SCWrite(pCon,pError,eError);
    KillRS232(controller);
    return NULL;
  }
  setRS232ReplyTerminator(controller,"&\r\n:");
  setRS232SendTerminator(controller,"\r\n");
  setRS232Timeout(controller, msecTimeout);
  return controller;
}


/** \brief Create a driver for the DMC2280 Galil controller.
 *
 * This is called by the Motor configuration command in the
 * SICS configuration file when you create a DMC2280 motor.
 *
 * Usage:\n
 * Motor stth DMC2280 paramArray\n
 * - stth is the motor name
 * - DMC2280 is the motor type that will lead to calling this function.
 * - paramArray is a Tcl array of the motor parameters. 
 *
 * \param *pCon (r) connection object.
 * \param *motor (r) motor name
 * \param *params (r) configuration parameter array.
 * \return a reference to Motordriver structure
 *
 * NOTES:\n
 * -Adding parameters
 *  - Add a field for the parameter to the DMC2280Driv struct
 *  - Get the parameter from the parameter array, see PARAMETERS: below
 *  - If the parameter requires an abs enc then add it after ABSENC: 
 */
/*@only@*//*@null@*/ MotorDriver *CreateDMC2280(/*@observer@*/SConnection *pCon, /*@observer@*/char *motor, /*@observer@*/char *params){
  pDMC2280Driv pNew = NULL;
  char *pPtr = NULL;
  char buffer[132];
  char pError[ERRLEN];
  char cmd[CMDLEN];
  int port;
  Tcl_Interp *interp;

  buffer[0]='\0';

  interp = InterpGetTcl(pServ->pSics);

  /*
     allocate and initialize data structure
     */
  pNew = (pDMC2280Driv)malloc(sizeof(DMC2280Driv));
  if(NULL == pNew){
    (void) SCWrite(pCon,"ERROR: no memory to allocate motor driver",
                   eError);
    return NULL;
  }
  memset(pNew, 0, sizeof(DMC2280Driv));
  pNew->controller = NULL;
  pNew->name = NULL;
  pNew->errorCode = 0;
  pNew->errorMsg = NULL;
  pNew->lastCmd[0] = '\0';
  pNew->dmc2280Error[0] = '\0';
  pNew->absEncHome = 0;
  pNew->cntsPerX = 0;
  /* Get hostname and port from the list of named parameters */
  if ((pPtr=getParam(pCon, interp, params,"port",1)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  if (sscanf(pPtr,"%d",&port)==0)
    port = getPortNum(pCon, pPtr);
  if ((pPtr=getParam(pCon, interp, params,"host",1)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  strncpy(buffer,pPtr, 131);

  /* Connect to the controller */
  pNew->controller = DMC2280Connect(pCon, buffer,port);
  if( pNew->controller == NULL ) {
    snprintf(pError, ERRLEN, "\tError occurred when creating DMC2280 motor '%s'", motor);
    SCWrite(pCon,pError,eError); 
    KillDMC2280(pNew);
    return NULL;
  }

  /*FIXME Tell splint that there's no memory leak because pointers are being initialised here */
  pNew->name = (char *)malloc(sizeof(char)*(strlen(motor)+1));
  if (pNew->name == NULL) {
    (void) SCWrite(pCon,"ERROR: no memory to allocate motor driver",
                   eError);
    KillDMC2280(pNew);
    return NULL;
  }
  pNew->pMot = NULL;
  strcpy(pNew->name, motor);
  pNew->home = 0.0;
  pNew->fLower = 0.0;//(float)atof(argv[2]);
  pNew->fUpper = 0.0;//(float)atof(argv[3]);
  pNew->GetPosition = DMC2280GetPos;
  pNew->RunTo = DMC2280Run;
  pNew->GetStatus = DMC2280Status;
  pNew->GetError = DMC2280Error;
  pNew->TryAndFixIt = DMC2280Fix;
  pNew->Halt = DMC2280Halt;
  pNew->GetDriverPar = DMC2280GetPar;
  pNew->SetDriverPar = DMC2280SetPar;
  pNew->ListDriverPar = DMC2280List;
  pNew->KillPrivate = KillDMC2280;
  pNew->blockage_ckInterval = 0.5;
  pNew->blockage_thresh = 0.5;
  pNew->blockage_ratio = 2.0;
  pNew->blockage_fail = 0;

  /* PARAMETERS: Fetch parameter values */
  if ((pPtr=getParam(pCon, interp, params,HARDLOWERLIM,_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%f",&(pNew->fLower));
  if ((pPtr=getParam(pCon, interp, params,HARDUPPERLIM,_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%f",&(pNew->fUpper));
  if ((pPtr=getParam(pCon, interp, params,UNITS,_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%s",pNew->units);
  if ((pPtr=getParam(pCon, interp, params,MAXSPEED,_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%f",&(pNew->speed));
  pNew->maxSpeed = pNew->speed;
  if ((pPtr=getParam(pCon, interp, params,MAXACCEL,_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%f",&(pNew->accel));
  pNew->maxAccel = pNew->accel;
  if ((pPtr=getParam(pCon, interp, params,MAXDECEL,_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%f",&(pNew->decel));
  pNew->maxDecel = pNew->decel;
  if ((pPtr=getParam(pCon, interp, params,"axis",_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%c",&(pNew->axisLabel));
  if ((pPtr=getParam(pCon, interp, params,"stepsperx",_REQUIRED)) == NULL) {
    KillDMC2280(pNew);
    return NULL;
  }
  sscanf(pPtr,"%d",&(pNew->stepsPerX));
  if ((pPtr=getParam(pCon, interp, params,"motorhome",_OPTIONAL)) == NULL)
    pNew->motorHome=0;
  else
    sscanf(pPtr,"%d",&(pNew->motorHome));
  if ((pPtr=getParam(pCon, interp, params,"nopowersave",_OPTIONAL)) == NULL)
    pNew->noPowerSave=_SAVEPOWER;
  else
    sscanf(pPtr,"%d",&(pNew->noPowerSave));
  if ((pPtr=getParam(pCon, interp, params,"motoffdelay",_OPTIONAL)) == NULL)
    pNew->motOffDelay=0;
  else
    sscanf(pPtr,"%d",&(pNew->motOffDelay));

  /* Debug: this motor driver logs exchanges */
  if ((pPtr=getParam(pCon, interp, params,"debug",_OPTIONAL)) == NULL)
    pNew->debug=0;
  else {
    sscanf(pPtr,"%d",&(pNew->debug));
  }

  /* SETTLE: this motor need time to settle */
  if ((pPtr=getParam(pCon, interp, params,"settle",_OPTIONAL)) == NULL)
    pNew->settle=0;
  else {
    sscanf(pPtr,"%d",&(pNew->settle));
  }

  /* AIRPADS: this motor need airpads */
  if ((pPtr=getParam(pCon, interp, params,"airpads",_OPTIONAL)) == NULL)
    pNew->has_airpads=0;
  else {
    sscanf(pPtr,"%d",&(pNew->has_airpads));
  }

  /* ABSENC: If the parameter requires an abs enc add it to the else block */
  if ((pPtr=getParam(pCon, interp, params,"absenc",_OPTIONAL)) == NULL)
    pNew->abs_endcoder=0;
  else {
    sscanf(pPtr,"%d",&(pNew->abs_endcoder));
    if ((pPtr=getParam(pCon, interp, params,"absenchome",_REQUIRED)) == NULL)
      pNew->absEncHome=0;
    else
      sscanf(pPtr,"%d",&(pNew->absEncHome));
    if ((pPtr=getParam(pCon, interp, params,"cntsperx",_REQUIRED)) == NULL)
      pNew->cntsPerX=1;
    else
      sscanf(pPtr,"%d",&(pNew->cntsPerX));
  }

    /* Set speed */
    snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
    if (FAILURE == DMC2280Send(pNew, cmd))
      return NULL;
    /* Set acceleration */
    snprintf(cmd,CMDLEN,"AC%c=%d", pNew->axisLabel, motAccel(pNew, pNew->accel));
    if (FAILURE == DMC2280Send(pNew, cmd))
      return NULL;
    /* Set deceleration */
    snprintf(cmd,CMDLEN,"DC%c=%d", pNew->axisLabel, motDecel(pNew, pNew->decel));
    if (FAILURE == DMC2280Send(pNew, cmd))
      return NULL;
    /* TODO Initialise current position and target to get a sensible initial list output */
  return (MotorDriver *)pNew;
}