- Removed napi from SICS

- Added error fields to hwardware objects: motor, counter, histmem
- Optimised sinqhttpopt
- Added haddcheck which adds checks to hipadaba nodes. The current implementation
  only checks for selctions agaisnt the values property. Expand when more checks are
  required.

polterwrite.c

@@ -173,10 +173,19 @@ static void writeDiaphragm2(NXhandle hfil, NXdict hdict,
   SNXSPutMotorNull(pServ->pSics, pCon, hfil, hdict, "dia2zplus0", "d2vu");
   SNXSPutMotor(pServ->pSics, pCon, hfil, hdict, "dia2z_minus", "d2vl");
   SNXSPutMotorNull(pServ->pSics, pCon, hfil, hdict, "dia2zminus0", "d2vl");
+  SNXSPutMotor(pServ->pSics, pCon, hfil, hdict, "dia2z_x", "d2x");
+  SNXSPutMotorNull(pServ->pSics, pCon, hfil, hdict, "dia2z_x0", "d2x");
 
   SNXSPutVariable(pServ->pSics, pCon, hfil, hdict, "dia2dist",
                   "dia1_dia2");
 }
+/*---------------------------------------------------------------------*/
+static void writeCollimator(NXhandle hfil, NXdict hdict,
+                            SConnection * pCon)
+{
+
+  SNXSPutMotor(pServ->pSics, pCon, hfil, hdict, "cov", "cov");
+}
 
 /*--------------------------------------------------------------------*/
 static void writeSample(NXhandle hfil, NXdict hdict, SConnection * pCon)
@@ -298,6 +307,8 @@ static void PoldiStart(pPolterdi self, SConnection * pCon)
 
   writeDiaphragm2(hfil, hdict, pCon);
 
+  writeCollimator(hfil, hdict, pCon);
+
   writeSample(hfil, hdict, pCon);
 
   /*
@@ -426,6 +437,10 @@ static void PoldiStart(pPolterdi self, SConnection * pCon)
 	  NXDputalias(hfil, hdict, "cntime", &fVal);
 	  lVal = GetMonitor(pCount, 1, pCon);
 	  NXDputalias(hfil, hdict, "cnmon1", &lVal);
+	  lVal = GetMonitor(pCount, 2, pCon);
+	  NXDputalias(hfil, hdict, "cnmon3", &lVal);
+	  lVal = GetMonitor(pCount, 3, pCon);
+	  NXDputalias(hfil, hdict, "cnmon4", &lVal);
 	  eMode = GetCounterMode(pCount);
 	  if (eMode == eTimer) {
 		  strcpy(pBueffel, "timer");
@@ -545,10 +560,12 @@ static void PoldiUpdate(pPolterdi self, SConnection * pCon)
 	  NXDputalias(hfil, hdict, "cntime", &fVal);
 	  lVal = GetMonitor(pCount, 1, pCon);
 	  NXDputalias(hfil, hdict, "cnmon1", &lVal);
-	  lVal = GetMonitor(pCount, 0, pCon);
+	  lVal = GetMonitor(pCount, 4, pCon);
 	  NXDputalias(hfil, hdict, "cnprot", &lVal);
 	  lVal = GetMonitor(pCount, 2, pCon);
-	  NXDputalias(hfil, hdict, "cnmon2", &lVal);
+	  NXDputalias(hfil, hdict, "cnmon3", &lVal);
+	  lVal = GetMonitor(pCount, 3, pCon);
+	  NXDputalias(hfil, hdict, "cnmon4", &lVal);
 	  eMode = GetCounterMode(pCount);
 	  if (eMode == eTimer) {
 		  strcpy(pBueffel, "timer");

sinqhttpopt.c

@@ -95,6 +95,22 @@ typedef struct {
   int headerReceived;
 } HttpProt, *pHttpProt;
 /*---------------------------------------------------------------------*/
+static int moreToReadThen(Ascon *a, int length)
+{
+  pHttpProt pHttp = NULL;
+  pHttp = (pHttpProt)a->private;
+
+  if(pHttp->headerReceived == 0) {
+    return 0;
+  }
+ 
+  if(pHttp->bytesExpected - GetDynStringLength(a->rdBuffer) > length){
+    return 1;
+  } else {
+    return 0;
+  }
+}
+/*---------------------------------------------------------------------*/
 static int HTTPcallback(int handle, void *userData)
 {
   Ascon *a = (Ascon *)userData;
@@ -102,6 +118,7 @@ static int HTTPcallback(int handle, void *userData)
   unsigned char ch;
   int length;
   char *data;
+  int blockSize = 65536; 
 
   if(a == NULL){
     printf("really serious error in HTTPcallback\n");
@@ -111,9 +128,18 @@ static int HTTPcallback(int handle, void *userData)
 
   data = (char *)ANETreadPtr(handle,&length);
   if(data != NULL){
+    /*
+      This code here should optimize away excessive calls 
+      to memcpy which I have seen in a sysprof test on 
+      SICS @ BOA
+     */
+    if(moreToReadThen(a,blockSize) == 1 && length < blockSize){
+      // skip
+    } else {
       DynStringConcatBytes(a->rdBuffer,data,length);
-	}
       ANETreadConsume(handle,length);
+    }
+  }
   return 1;
 
 }
@@ -329,6 +355,7 @@ static int processHeader(Ascon *a)
 	} else {
 		DynStringClear(a->rdBuffer);
 	}
+	DynStringCapacity(a->rdBuffer,pHttp->bytesExpected);
 
 	return 1;
 }

tasinit.c

@@ -242,9 +242,9 @@ static int TasSaveStatus(void *self, char *name, FILE * fd)
     pMot = FindMotor(pServ->pSics, tasMotorOrder[i]);
     if (pMot) {
       MotorGetPar(pMot, "hardupperlim", &value);
-      fprintf(fd, "%s hardupperlim %f\n", tasMotorOrder[i], value);
+      fprintf(fd, "catch {%s hardupperlim %f}\n", tasMotorOrder[i], value);
       MotorGetPar(pMot, "hardlowerlim", &value);
-      fprintf(fd, "%s hardlowerlim %f\n", tasMotorOrder[i], value);
+      fprintf(fd, "catch {%s hardlowerlim %f}\n", tasMotorOrder[i], value);
       /*
          DISABLED: reading all the motors made to much of a delay during
          normal operation of the instrument. This is mainly due  to the