From e36ced571841bf0caa2c777cbdb9c481031f55b0 Mon Sep 17 00:00:00 2001
From: Mark Koennecke <mark.koennecke@psi.ch>
Date: Mon, 7 Apr 2014 14:06:48 +0200
Subject: [PATCH] Improved error reporting in eigermono

---
 eigermono.c | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/eigermono.c b/eigermono.c
index 057492b..a8ad6f0 100644
--- a/eigermono.c
+++ b/eigermono.c
@@ -175,7 +175,7 @@ static void writeMotPos(SConnection * pCon, int silent, char *name,
 static long startTASMotor(pMotor mot, SConnection * pCon, char *name,
                          double target, int silent, int stopFixed)
 {
-  float val, fixed, precision = MOTPREC;
+  float val, fixed, fHard, precision = MOTPREC;
   long status = NOTSTARTED;
   char buffer[132];
   pIDrivable pDriv = NULL;
@@ -195,18 +195,22 @@ static long startTASMotor(pMotor mot, SConnection * pCon, char *name,
       }
       return NOTSTARTED;
     }
+    if(MotorCheckBoundary(mot,target,&fHard,buffer,sizeof(buffer)) == 0){
+      SCPrintf(pCon,eLog,"ERROR: %s", buffer);
+    }
   }
   mot->stopped = 0;
   if (ABS(val - target) > precision) {
     status = StartDriveTask(mot, pCon, name, (float)target); 
     if(status < 0){
       SCPrintf(pCon,eLog,"ERROR: failed to drive %s to %f", name, target); 
+    } else {
+      /*
+	to force updates on targets
+      */
+      InvokeNewTarget(pServ->pExecutor, name, target);
+      writeMotPos(pCon, silent, name, val, target);
     }
-    /*
-      to force updates on targets
-    */
-    InvokeNewTarget(pServ->pExecutor, name, target);
-    writeMotPos(pCon, silent, name, val, target);
     return status;
   }
   return NOTSTARTED;