- Changed tabledrive to new MARS driving

- Various fixes to make SLS magnet controller more stable

slsmagnet.c

@@ -139,6 +139,7 @@ static int communicateSLS(mkChannel *pSock, char msg[6], char reply[6])
   if(!pSock)
     return NOTCONNECTED;
 
+  memset(reply,0,6);
   address = (int)msg[1];
   iRet = NETWrite(pSock,msg,6);
   if(iRet < 0)
@@ -924,11 +925,34 @@ static void slsdspCodeToText(int code, char *text, int textlen){
             return DEVFAULT;
         }
         ival  = (int)reply[5];
-        if(ival != 0){
-            return DEVFAULT;
-        } else {
+        if(ival == 0){
             return DEVREDO;
-        }
+        } 
+        /*
+         * OK, clearing the error did not work, I try to reinitialize the 
+         * socket because this helps sometimes.
+         */
+         NETClosePort(pMe->pSock);
+         pMe->pSock = NULL;
+         pMe->pSock = NETConnect(pMe->pHost,pMe->iPort);
+         if(!pMe->pSock)
+         {
+           return DEVFAULT;
+         }
+         sleep(1); 
+         msg[0] = DSPREAD;
+         msg[1] = 0x29;
+         iRet = communicateSLS(pMe->pSock,msg,reply);
+         if(iRet < 0)
+         {
+            return DEVFAULT;
+         }
+         ival  = (int)reply[5];
+         if(ival == 0){
+            return DEVREDO;
+         } else {
+            return DEVFAULT;
+         } 
 	 }
 	 
      switch(iError)

tabledrive.c

@@ -57,7 +57,7 @@ static int TableDriveCheckLimits(void *pData, float fVal, char *error,
 		strncpy(error,"Path Table Not Defined!",25);
 		return 0;
 	}		
-	if(fVal < 1. || fVal >= self->tableLength){
+	if(fVal < 1. || fVal > self->tableLength){
 		strncpy(error,"Out of Range",25);
 		return 0;
 	}	
@@ -267,7 +267,7 @@ static void tableInfo(pTableDrive self, SConnection *pCon){
             MotorGetPar(moti.pMot,"precision",&tolerance);
             targetPosition = findTarget(moti,value);
             snprintf(pBueffel,256,"Motor %10s, should: %8.2f, is %8.2f, diff = %8.2f",
-            moti.motorName, motorPosition, targetPosition, 
+            moti.motorName, targetPosition, motorPosition, 
                 ABS(targetPosition - motorPosition));
             SCWrite(pCon,pBueffel,eValue);
         }