Jira task ICSHWI-4971

Hello @tomaszbrys ! As I tried to explain you briefly via Slack messages, Huginn EPICS IOC has been massively reviewed in summer this year, but only some days ago Alex Holmes was able to test all the modifications. The operation results are really good, then I decided to proceed with the merge into master. Such review was based on MATLAB solution I've tried to capture in this flowchart: Huginn control algorithms for the three operation modes

But, first, I'd like someone else to take a look into the code... you're familiarized with Huginn and EPICS, so, perfect person to help me here, please!

Note that most important is pay attention to the way it is implemented (EPICS) maybe you find possible enhancements.

Any question, please, register in comments here (merge request). And thank you in advance!