- Fixed bugs in sinqhttp.c, most notatbly the unknown error on hm init

- Added first slit to amorset
- Added untested code for the POLDI strees machine

tabledrive.c

@@ -10,11 +10,13 @@
 #include "../lld.h"
 #include "tabledrive.h"
 /*--------------------------------------------------------------------------*/
-#define OUTOFSYNC 100
-#define STARTING   101
-#define STEPPING   102
-#define WAITING    103
+#define OUTOFSYNC   100
+#define STARTING    101
+#define STEPPING    102
+#define WAITING     103
 #define WAITFINISH  104
+#define IDLE        105
+
 #define ABS(x) (x < 0 ? -(x) : (x))    
 #define SIGN(x) (x < .0 ? (-1) : (1))
 extern char *trim(char *txt);		
@@ -182,6 +184,10 @@ static void checkSync(pTableDrive self, SConnection *pCon, float value){
 	float motorPosition, targetPosition, tolerance, diff;
 	tdMotor moti;
 	char pBueffel[256];
+
+	if(self->state != IDLE){
+	  return;
+	}
 	
 	status = LLDnodePtr2First(self->motorTable);
 	while(status != 0){
@@ -224,6 +230,36 @@ static float TableDriveGetValue(void *pData, SConnection *pCon){
 	self->currentPosition = value;
 	return value;
 }
+/*-------------------------------------------------------------------------*/
+static void tableInfo(pTableDrive self, SConnection *pCon){
+    int status, test;
+    float motorPosition, targetPosition, tolerance, diff, value;
+    tdMotor moti;
+    char pBueffel[256];
+    
+    value = TableDriveGetValue(self,pCon);
+    snprintf(pBueffel,255," Triffid Position: %8.2f", value);
+    SCWrite(pCon,pBueffel,eValue);
+    
+    status = LLDnodePtr2First(self->motorTable);
+    while(status != 0){
+        LLDnodeDataTo(self->motorTable,&moti);
+        test = MotorGetSoftPosition(moti.pMot,pCon,&motorPosition);
+        if(!test){
+            snprintf(pBueffel,255,"ERROR: failed to read motor %s",
+                moti.motorName);
+            SCWrite(pCon,pBueffel,eError);
+        }   else {
+            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, 
+                ABS(targetPosition - motorPosition));
+            SCWrite(pCon,pBueffel,eValue);
+        }
+        status = LLDnodePtr2Next(self->motorTable);
+    } 
+}
 /*------------------------------------------------------------------------*/
 static void tableSetPar(pMotor pMot, char *name, float value){
   ObPar *ob = NULL;
@@ -401,6 +437,7 @@ static int TableDriveCheckStatus(void *pData, SConnection *pCon){
 			if(status != HWBusy){
 				TableDriveGetValue(self,pCon);
 				closeMotors(self,pCon);
+                                self->state = IDLE;
 				return status;
 			} else {
 			  return HWBusy;
@@ -408,6 +445,7 @@ static int TableDriveCheckStatus(void *pData, SConnection *pCon){
 			break;
         case OUTOFSYNC:
             SCWrite(pCon,"WARNING: tabledrive out of sync",eWarning);
+            self->state = IDLE;
             return HWFault;
             break;
 		default:
@@ -579,6 +617,7 @@ int TableDriveFactory(SConnection *pCon, SicsInterp *pSics, void *pData,
 		killTableDrive(pNew);
 		return 0;
 	}
+	pNew->state = IDLE;
     
     status = AddCommand(pSics,argv[1],
     					TableDriveAction,
@@ -599,7 +638,8 @@ int TableDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
     pTableDrive self = (pTableDrive)pData;
     int status;
     char pBueffel[1024];
-    float value;    
+    float value;
+    pDynString print = NULL;    
                         
     if(argc < 2){
     	value = TableDriveGetValue(self,pCon);
@@ -626,10 +666,18 @@ int TableDriveAction(SConnection *pCon, SicsInterp *pSics, void *pData,
     			SCSendOK(pCon);
     		}
     		return status;
-    	}else if(strcmp(argv[1],"show") == 0){
-    		showPositions(self,pCon,pBueffel,1023);
-    		SCWrite(pCon,pBueffel,eValue);
-    		return 1;
+        }else if(strcmp(argv[1],"show") == 0){
+            showPositions(self,pCon,pBueffel,1023);
+            SCWrite(pCon,pBueffel,eValue);
+            return 1;
+        }else if(strcmp(argv[1],"info") == 0){
+            SCStartBuffering(pCon);
+            tableInfo(self,pCon);
+            print = SCEndBuffering(pCon);
+            if(print != NULL){
+                SCWrite(pCon,GetCharArray(print), eValue);
+            }
+            return 1;
     	}else if(strcmp(argv[1],"orient") == 0){
     		if(argc > 2){
     			if(!SCMatchRights(pCon,usMugger)){