BIGstick.cc

--- k.c.o	2008-01-07 22:14:43.000000000 -0500+++ keystick.cc	2008-01-07 22:18:34.000000000 -0500@@ -1586,6 +1586,63 @@   return 0;; } +int tryNml()+{+    double end;+    int good;+#define RETRY_TIME 10.0		// seconds to wait for subsystems to come up+#define RETRY_INTERVAL 1.0	// seconds between wait tries for a subsystem++    if (EMC_DEBUG & EMC_DEBUG_NML == 0) {+	set_rcs_print_destination(RCS_PRINT_TO_NULL);	// inhibit diag+	// messages+    }+    end = RETRY_TIME;+    good = 0;+    do {+	if (0 == emcTaskNmlGet()) {+	    good = 1;+	    break;+	}+	esleep(RETRY_INTERVAL);+	end -= RETRY_INTERVAL;+    } while (end > 0.0);+    if (EMC_DEBUG & EMC_DEBUG_NML == 0) {+	set_rcs_print_destination(RCS_PRINT_TO_STDOUT);	// inhibit diag+	// messages+    }+    if (!good) {+	return -1;+    }++    if (EMC_DEBUG & EMC_DEBUG_NML == 0) {+	set_rcs_print_destination(RCS_PRINT_TO_NULL);	// inhibit diag+	// messages+    }+    end = RETRY_TIME;+    good = 0;+    do {+	if (0 == emcErrorNmlGet()) {+	    good = 1;+	    break;+	}+	esleep(RETRY_INTERVAL);+	end -= RETRY_INTERVAL;+    } while (end > 0.0);+    if (EMC_DEBUG & EMC_DEBUG_NML == 0) {+	set_rcs_print_destination(RCS_PRINT_TO_STDOUT);	// inhibit diag+	// messages+    }+    if (!good) {+	return -1;+    }++    return 0;++#undef RETRY_TIME+#undef RETRY_INTERVAL+}+ int main(int argc, char *argv[]) {   int dump = 0;@@ -1723,11 +1780,7 @@   // init NML   if (! dump)     {-      if (emcTaskNmlGet())-        {-          exit(1);-        }-      if (emcErrorNmlGet())+        if(tryNml())         {           exit(1);         }