Remove now unneeded nsec base time.
Command handling in the sample now uses trigger time.
Trace handling still has to be done, then all nsec timers can be removed
from the sample.

The 'filename' parameter wasn't initialized here, so when extra->filename is
used to generate e.g. log messages, garbage entered the log.

	modified:   controller/controller_load.c

We do this by checking the final state of all links after loading the top-most
controller file. The new code will allow an included file to create links to
blocks that will only exist later on during the load process, and it will
successfully error out when links are defined for non-existing block.

Furthermore, controller_block_link() will now bail out immediately when it
hits an unrecoverable linker error. With this change, the error mesaage of the
linker step that failed will remain at the end of the output instead of being
flushed off the screen by e.g. 100+ 'Linked x to y (chained)' lines.

	modified:   controller/controller/controller_block.c
	modified:   controller/controller/controller_load.c

This caused all my .ctrl files with typos or non-existing block names in their
'links { }' section to 'just run' instead of failing with an error.
We will now halt with an error like :

 DEBUG: Input block 'digg_out2' does not (yet) exist, will try to link later
 ERROR: Failed to link controller!
 ERROR: Could not load controller file

	modified:   controller/controller_load.c

'slash' would be used uninitialized in this case. While we're here, change
code to use strrchr() instead of rolling our own and only stat() a filename if
we've found a '/', since we know 'extern->filename' will not contain a
directory name otherwise.

	modified:   controller/controller_load.c

(You'll see why in the next commit..)

	modified:   controller/controller_load.c

When the .ctrl file contains a line to create an 'ec' block with incorrect
arguments, the following errors would be emitted :

 ERROR: Invalid arguments trying to create block 'ethercat'
 DEBUG: Load module 'ec' with prefix 'ethercat'
 ERROR: ec:1: syntax error, unexpected $end
 DEBUG: End of module 'ec': 1
 ERROR: pand.ctrl:50: Error creating block
 ERROR: Could not load controller file

The code would first try to load the dynamically loadable 'ec' block's module.
This would fail, because of incorrect arguments. controller_load_block_create()
would then try to stat() the file 'ec'. When found, it is opened and loaded as
a module block.
The code didn't check for the file to be a regular file and my build system
contains a directory with the name 'ec'. On FreeBSD, directories can be opened
and read as if they were regular files, but the .ctrl file parser would fail
to load the directory.
Change the code to *not* try to parse directories.

(It would be even better if we just stopped trying to load blocks when
controller_block_create() tells us that the block does exist, but the user has
made an error. At this moment though, controller_block_create() has no way of
telling the caller that.)

The new code bails out with :

 ERROR: Invalid arguments trying to create block 'ethercat'
 ERROR: Could not load or create block 'ec'
 ERROR: pand.ctrl:50: Error creating block
 ERROR: Could not load controller file

	modified:   controller/controller/controller_load.c

The incorrect error was line 3 of the following example:

 ERROR: Too many arguments supplied! This function doesn't accept arguments.
 ERROR: Invalid arguments trying to create block 'heater3'
 ERROR: Could not find create function or struct for block bridge_pwm
 ERROR: pand.ctrl:36: Error creating block

Both the create function and the create struct were found, but the block
wasn't created because the arguments didn't match. This version reports:
 ..
 ERROR: Could not load or create block 'bridge_pwm'

	modified:   controller/controller/controller_load.c

are.

	modified:   controller/controller/controller_load.c

o My two cents: If you can give explicit errors that tell the user exactly
  what is wrong with a minimal amount of code, please do.

	modified:   controller/controller/controller_load.c

Move parameter argument check to block_parameter file.
Remove arugment number check. (Full type check makes it redundant)
Rename check function with controller_load prefix.
Don't treat 1 argument option different from multiple options.

	modified:   controller/controller_load.c

This will produce error messages like:

ERROR: Argument mismatch in argument 1. Expected argument of type 'double'
 instead of 'char*'
ERROR: Invalid arguments trying to create trigger 'prestart'
ERROR: pand.ctrl:7: Error in trigger
ERROR: Could not load controller file

	modified:   controller/controller_load.c
	modified:   controller/controller_sample.c
	modified:   controller/controller_sample.h

This will produce errors like:

ERROR: Argument mismatch in argument 2. Expected argument of type 'int'
 instead of 'double'
ERROR: Invalid arguments trying to create block 'daan_1'
ERROR: pand.ctrl:52: Error creating block

	modified:   controller/controller_block.c
	modified:   controller/controller_block.h
	modified:   controller/controller_load.c

type lists.
The code will generate errors like:

ERROR: Invalid arguments! This function accepts any of the following:
ERROR:  int,float
ERROR:  char*,char*
ERROR: Argument mismatch while trying to set 'test_arg' param on block 'daan_1'
ERROR: pand.ctrl:207: Error setting parameter

	modified:   controller/controller_load.c

	modified:   controller/controller_load.c

We now interpret it as 'from this point on, zero or more arguments of any type
will do'.

	modified:   controller/controller_load.c

used to verify the arguments and types of block create functions, etc., but
start by validating parameters for now. This helps a lot when writing .ctrl
files as the parser will now stop with a sensible error instead of a segfault
when arguments are mismatched.

Some example output:
ERROR: Invalid number of arguments! Expecting 1 argument instead of 3.
ERROR: Argument mismatch while trying to set 'divider' param on block 'heater'
ERROR: pand-test.ctrl:169: Error setting parameter

ERROR: Argument mismatch in argument 1. Expected argument of type 'int' instead of 'char*'
ERROR: Argument mismatch while trying to set 'divider' param on block 'heater'
ERROR: pand-test.ctrl:169: Error setting parameter

	modified:   controller/controller_load.c

When the blocks in the module use frequency 0.0 the module will
inherit the parent blocks frequency (typicall case for makin modules
of small networks which should just integrate with the parent network).
If a blocks segment in a module has any other frequency it will use that.

test_module.ctrl has been extended with module blocks, nested modules and
a module with its own frequency domain.

	modified:   controller/controller_load.c

Als add parameter description and check to parameter lists.

Blocks can now check the number of arguments before parsing them.

The frequency keyword has been removed.
The blocks keyword now needs two arguments: frequency (Hz) and delay (seconds)

Use immediate trigger in test.ctrl files.
Fix some bugs

Some small fixes in lex code.

Added integer variables (nice for defining named states in the state machine)
Various improvements to a few blocks
	joystick uses controller bus
	multiplexer and trajectplayer can handle non existing selects
(cherry picked from commit 82abe0ef)

This allows both the azimuth and the elevation control file to include the
ethercat device

Update to bison 2.6

Update simulator networks to have proper quantization
Add pi constant

Also some changes to properly log to console when no slaves are found

A few improvements from the Vitsch Electronics CVS
Use log_send() for all logging and add context (DEBUG/WARNING/ERROR) info.
A little bit more comments

The controller_load functions will set it to the .ctrl filename.
Modifiy dumpdot to use it to make subgraphs. This way we get a nice
grouping of blocks per file.

Also fix some reentrancy issues in the controller_load functions.