- Fixes to el734hp.c for handling of emergency stop

- Added waiting 5 sec after driving A6 to tas code

tasinit.c

@@ -298,7 +298,18 @@ static int RecalcAction(SConnection *pCon, SicsInterp *pSics, void *pData,
 
    return TASUpdate(self,pCon);
 }
-
+/*--------------------------------------------------------------------------
+ when A6 has been drive Bertrand wants to wait for some seconds in order
+ to allow for the analyzer shielding to settle down. This is done
+ through this callback function
+ ---------------------------------------------------------------------------*/
+static int A6WaitCallback(int iEvent, void *pEventData, void *pUserData)
+{
+  if(iEvent == MOTEND)
+  {
+    SicsWait(5);
+  }
+}
 /*-----------------------------------------------------------------------
   A function for killing the TAS data structure is needed
   -------------------------------------------------------------------------*/
@@ -321,6 +332,7 @@ int TASFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
    char pBueffel[132];
    pSicsVariable pVar = NULL;
    CommandList *pCom = NULL;
+   pMotor pMot = NULL;
 
    /* check arguments*/
    if(argc < 2)
@@ -395,6 +407,16 @@ int TASFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
      RegisterCallback(pVar->pCall,VALUECHANGE,TimerCallback,pNew,NULL);
    }
 
+   /*
+     Install the wait callback for A6
+   */
+   pMot = FindMotor(pSics,"a6");
+   if(pMot != NULL)
+   {
+     RegisterCallback(pMot->pCall,MOTEND,A6WaitCallback,NULL,NULL);
+   }
+
+
    /*
      initialize SRO value
    */