- reintroducted MF/TEM

ptasdrive.c

@@ -42,7 +42,9 @@ extern char *stptok(const char *s, char *tok, size_t toklen, char *brk);
   par=val. However, it is possible that the we get par = val, val, val 
   which means that the motors following par in storage order are
   driven. Additionally we have to check for special energy or Q variables
-  which require a triple axis calculation. 
+  which require a triple axis calculation.
+  
+  M.Z. June 07: storage order mode only allowed for QH,QK,QL,EN.
 
   It helps if one understands some fundamental things used in the code 
   below:
@@ -77,7 +79,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
    unsigned char motorMask[MAXMOT]; 
    float newPositions[MAXMOT];
    pMotor pMot;
-
+   int qhPars;
 
 
    assert(pCon);
@@ -116,7 +118,8 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
    varPointer = -1; 
    motorPointer = -1;
    rStatus = 1;
-
+   qhPars = 0;
+   
    /* parse loop */
    while(pPtr != NULL)
    {
@@ -129,13 +132,9 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
         if(lastToken == NUM)
 	{
           /* handle storage order logic */
-	  if(motorPointer > -1)
+	  if(varPointer > -1 && qhPars > 1)
 	  {
-	    motorPointer++;
-          }
-          else if(varPointer > -1)
-	  {
-	    varPointer++;
+	    varPointer++; qhPars--;
           }
           else
 	  {
@@ -175,6 +174,9 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
 	 iTAS = 1;
          motorPointer = -1;
          varPointer = status;
+         if (EMIN + varPointer == QH) {
+           qhPars = 4;
+         }
        }
        else if( (status = isTASMotor(pToken)) > -1)
        {
@@ -190,6 +192,7 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
        }
      }
    }/* end of parse loop */
+
    if(rStatus != 1)
      return rStatus;
 
@@ -208,13 +211,14 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
        if(pMot)
        {
 	 MotorGetSoftPosition(pMot, pCon, &oldPos);
+         sprintf(pBueffel,"Driving %s from %f to %f", 
+            tasMotorOrder[i],oldPos,newPositions[i]);
        }
        else
        {
-	 oldPos = -9999.;
+         sprintf(pBueffel,"Driving %s to %f", 
+            tasMotorOrder[i],newPositions[i]);
        }
-       sprintf(pBueffel,"Driving %s from %f to %f", 
-            tasMotorOrder[i],oldPos,newPositions[i]);
        SCWrite(pCon,pBueffel,eWarning);
        status = StartMotor(pServ->pExecutor,pSics,pCon,
                            tasMotorOrder[i],newPositions[i]);
@@ -232,6 +236,11 @@ int TASDrive(SConnection *pCon, SicsInterp *pSics, void *pData,
    */
    if(iTAS > 0)
    {
+     if (qhPars == 3) {
+       SCWrite(pCon, "ERROR: QH cannot have 2 values", eError);
+       return 0;
+     }
+
      status = TASCalc(self,pCon,tasMask,tasTargets, tasTargetMask);
      if(status)
      {