Added a setswitch command to the SPS S7 code

Fixed priority in epicsadapter

epicsadapter.c

@@ -115,7 +115,7 @@ static int makeEPICSContext(void *message, void *userData)
     epicsTaskID = TaskRegisterN(pServ->pTasker,
 				"epics",
 				EpicsTask,
-				NULL,NULL,NULL,TASK_PRIO_MED
+				NULL,NULL,NULL,TASK_PRIO_LOW
 				);
   }
   return MPCONTINUE;

spss7.c

@@ -15,6 +15,10 @@
  * Updated to use long names to avoid collisions 
  *
  * Mark Koennecke, May 2017
+ *
+ * Updated to write switches directly. Not how it should be ... but ...
+ *
+ * Mark Koennecke, June 2018
  */
 #include <sics.h>
 #include <sicsobj.h>
@@ -445,9 +449,6 @@ static void InitializeSwitches(pS7Action self)
 	switches = GetHipadabaNode(self->spsNode,"switches");
 	assert(switches != NULL);
 
-	/*
-	 * TODO: Add write callbacks to switches
-	 */
 	node = switches->child;
 	while(node != NULL){
 		AppendHipadabaCallback(node,
@@ -522,6 +523,42 @@ static int S7UpdateCmd(pSICSOBJ ccmd, SConnection * con,
 	SCSendOK(con);
 	return 1;
 }
+/*-------------------------------------------------------------------------*/
+static int S7SetSwitchCmd(pSICSOBJ ccmd, SConnection * con,
+                        Hdb * cmdNode, Hdb * par[], int nPar)
+{
+	pSPSS7 self = (pSPSS7)ccmd->pPrivate;
+	unsigned int offset, size;
+	unsigned char value;
+	pS7Action writeAction = NULL;
+
+
+	if(nPar < 3) {
+	  SCWrite(con,"ERROR: not enough parameters for setswitch: offset, size, value required",
+		  eError);
+	  return 0;
+        }
+	offset = par[0]->value.v.intValue;
+	size = par[1]->value.v.intValue;
+	value = par[2]->value.v.intValue;
+
+	writeAction = calloc(1,sizeof(S7Action));
+	if(writeAction == NULL){
+	  SCWrite(con, "ERROR: out of memory in S7WriteCallback", eError);
+	  return 0;
+	}
+	writeAction->sps = self;
+	writeAction->pCon = con;
+	writeAction->spsNode = ccmd->objectNode;
+	
+	MakeWriteMessage(writeAction,offset,size*2,&value);
+	
+	DevQueue(self->devser, writeAction, WritePRIO,
+		 S7WriteHandler, S7ActionMatch, free, NULL);
+
+	SCSendOK(con);
+	return 1;
+}
 /*---------------------------------------------------------------------*/
 static void KillSPSS7(void *data)
 {
@@ -543,6 +580,7 @@ int MakeSPSS7(SConnection * con, SicsInterp * sics,
 	char *devArgs[3];
 	pS7Action initAction = NULL, updateAction = NULL,
 			initSwitchAction = NULL;
+	pHdb child = NULL;
 
 	int status;
 
@@ -604,6 +642,13 @@ int MakeSPSS7(SConnection * con, SicsInterp * sics,
 	AddSICSHdbPar(pNew->objectNode,
 	                      "update", usSpy, MakeSICSFunc(S7UpdateCmd));
 
+	child = AddSICSHdbPar(pNew->objectNode,
+	                      "setswitch", usUser, MakeSICSFunc(S7SetSwitchCmd));
+	AddSICSHdbPar(child, "offset", usUser, MakeHdbInt(2));
+	AddSICSHdbPar(child, "size", usUser, MakeHdbInt(1));
+	AddSICSHdbPar(child, "value", usUser, MakeHdbInt(0));
+
+
 	AddHipadabaChild(pNew->objectNode,
 				MakeSICSROPar("init",MakeHdbInt(0)),NULL);