Added a motor driver which ignores air cushion errors for TRICS (falsely triggered)

el734hp.c

@@ -744,3 +744,104 @@ MotorDriver *CreateEL734HPT(SConnection * pCon, int argc, char *argv[])
   }
   return pDriv;
 }
+/*======================================================================
+A version which ignores the air cushion error for TRICS. Not recommended for 
+general use!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+But HW cannot be fixed.... as the electronics guys are not there.......
+========================================================================*/
+static int EL734FixAir(void *pData, int iCode, float fValue)
+{
+  pEL734Driv self = NULL;
+  int status, msr, i, len = 49;
+  char pCommand[50], pReply[80];
+
+  self = (pEL734Driv) pData;
+  assert(self);
+
+  switch (iCode) {
+  /*
+    air cushion error is really OK.....
+  */  
+  case BADCUSHION:
+    return MOTOK;
+  case BADADR:
+  case BADCMD:
+  case BADPAR:
+    return MOTREDO;
+  case BADBSY:
+    EL734Halt(pData);
+    SicsWait(1);
+    return MOTREDO;
+  case TIMEOUT:
+    for (i = 0; i < 3; i++) {
+      len = 49;
+      status = readRS232TillTerm(self->controller, pReply, &len);
+      if (status == 1) {
+        return MOTREDO;
+      }
+    }
+    /*
+       If nothing can be read, the only fixable cause is a network breakdown
+       Try to fix this. If this does not work: give up
+     */
+    closeRS232(self->controller);
+    SicsWait(60);
+    status = initRS232(self->controller);
+    if (status != 1) {
+      return MOTFAIL;
+    } else {
+      return MOTREDO;
+    }
+    break;
+  case BADUNKNOWN:
+    if (availableRS232(self->controller)) {
+      len = 79;
+      readRS232TillTerm(self->controller, pReply, &len);
+      return MOTREDO;
+    }
+    return MOTFAIL;
+    break;
+  case BADLOC:
+    snprintf(pCommand, 49, "RMT 1\r");
+    transactEL734(self->controller, pCommand, strlen(pCommand), pReply,
+                  79);
+    snprintf(pCommand, 49, "ECHO 0\r");
+    transactEL734(self->controller, pCommand, strlen(pCommand), pReply,
+                  79);
+    return MOTREDO;
+  case NOTCONNECTED:
+    initRS232(self->controller);
+    return MOTREDO;
+  case RUNFAULT:
+  case POSFAULT:
+    return MOTREDO;
+  case BADCOUNT:
+    self->runCount = 0;
+    self->posCount = 0;
+    return MOTOK;
+  case BADSEND:
+    /*
+       network problem: try to reopen connection
+     */
+    closeRS232(self->controller);
+    SicsWait(60);
+    status = initRS232(self->controller);
+    if (status != 1) {
+      return MOTFAIL;
+    } else {
+      return MOTREDO;
+    }
+  }
+  return MOTFAIL;
+}
+/*-------------------------------------------------------------------------*/
+MotorDriver *CreateEL734Air(SConnection * pCon, int argc, char *argv[])
+{
+  MotorDriver *pDriv = NULL;
+  pDriv = CreateEL734HP(pCon, argc, argv);
+  if (pDriv != NULL) {
+    pDriv->TryAndFixIt  = EL734FixAir;
+  }
+  return pDriv;
+}
+

psi.c

@@ -145,6 +145,7 @@ static void AddPsiCommands(SicsInterp * pInter)
 /*---------------------------------------------------------------------*/
 MotorDriver *CreateEL734HP(SConnection * pCon, int argc, char *argv[]);
 MotorDriver *CreateEL734HPT(SConnection * pCon, int argc, char *argv[]);
+MotorDriver *CreateEL734Air(SConnection * pCon, int argc, char *argv[]);
 MotorDriver *MakePiPiezo(Tcl_Interp * pTcl, char *pArray);
 /*-------------------------------------------------------------------*/
 static pMotor CreatePsiMotor(SConnection * pCon, int argc, char *argv[])
@@ -180,6 +181,18 @@ static pMotor CreatePsiMotor(SConnection * pCon, int argc, char *argv[])
       SCWrite(pCon, pBueffel, eError);
       return NULL;
     }
+  } else if (strcmp(argv[1], "el734air") == 0) {
+    pDriver = (MotorDriver *) CreateEL734Air(pCon, argc - 2, &argv[2]);
+    if (!pDriver) {
+      return NULL;
+    }
+    /* create the motor */
+    pNew = MotorInit("EL734air", argv[0], pDriver);
+    if (!pNew) {
+      snprintf(pBueffel,131, "Failure to create motor %s", argv[1]);
+      SCWrite(pCon, pBueffel, eError);
+      return NULL;
+    }
   } else if (strcmp(argv[1], "el734hpt") == 0) {
     pDriver = (MotorDriver *) CreateEL734HPT(pCon, argc - 2, &argv[2]);
     if (!pDriver) {

sanslirebin.c

@@ -196,6 +196,7 @@ int SansliRebin(SConnection * pCon, SicsInterp * pSics, void *pData,
       sortData[ix].frac = frac;
     } else {
       val = .0;
+      frac = .0;
     }
     setSICSDataInt(target, pos, (int) val);
   }