Cleaned up ANSTO code to merge with sinqdev.sics

This is our new RELEASE-4_0 branch which was taken from ansto/93d9a7c
Conflicts:
	.gitignore
	SICSmain.c
	asynnet.c
	confvirtualmot.c
	counter.c
	devexec.c
	drive.c
	event.h
	exebuf.c
	exeman.c
	histmem.c
	interface.h
	motor.c
	motorlist.c
	motorsec.c
	multicounter.c
	napi.c
	napi.h
	napi4.c
	network.c
	nwatch.c
	nxscript.c
	nxxml.c
	nxxml.h
	ofac.c
	reflist.c
	scan.c
	sicshipadaba.c
	sicsobj.c
	site_ansto/docs/Copyright.txt
	site_ansto/instrument/lyrebird/config/tasmad/sicscommon/nxsupport.tcl
	site_ansto/instrument/lyrebird/config/tasmad/taspub_sics/tasscript.tcl
	statusfile.c
	tasdrive.c
	tasub.c
	tasub.h
	tasublib.c
	tasublib.h

singlebi.c

@@ -228,6 +228,46 @@ static int hklInRange(void *data, double fSet[4], int mask[4])
   }
 }
 
+
+/*----------------------------------------------------------------------*/
+static int hklInRangeOrion(void *data, double fSet[4], int mask[4])
+{
+  pSingleDiff self = (pSingleDiff) data;
+  float fHard, fLimit;
+  char pError[132];
+  int i, test;
+  double dTheta;
+  pMotor pOmega, pChi, pPhi;
+
+  pOmega = SXGetMotor(Omega);
+  pChi = SXGetMotor(Chi);
+  pPhi = SXGetMotor(Phi);
+  if (pOmega == NULL || pChi == NULL || pPhi == NULL) {
+    return 0;
+  }
+
+  /* check two theta  */
+  dTheta = fSet[0];
+  mask[0] = checkTheta(self, &dTheta);
+  fSet[0] = dTheta;
+
+  /* Orion is not upside down... */
+  fSet[2] = -1.*(fSet[2]+180.) + 360. ;
+  fSet[3] = circlify(fSet[3]+180.);
+
+  mask[1] = MotorCheckBoundary(pOmega, fSet[1], &fHard, pError, 131);
+  mask[2] = MotorCheckBoundary(pChi, fSet[2], &fHard, pError, 131);
+  mask[3] = MotorCheckBoundary(pPhi, fSet[3], &fHard, pError, 131);
+  for (i = 0, test = 0; i < 4; i++) {
+    test += mask[i];
+  }
+  if (test != 4) {
+    return 0;
+  } else {
+    return 1;
+  }
+}
+
 /*-------------------------------------------------------------------*/
 static int calculateBiSettings(pSingleDiff self,
                                double *hkl, double *settings)
@@ -282,6 +322,60 @@ static int calculateBiSettings(pSingleDiff self,
   return 0;
 }
 
+/*-------------------------------------------------------------------*/
+static int calculateBiSettingsOrion(pSingleDiff self,
+                               double *hkl, double *settings)
+{
+  MATRIX z1;
+  double stt, om, chi, phi, psi, ompsi, chipsi, phipsi, myPsi;
+  int i, test, mask[4], iRetry;
+  double lambda;
+
+  myPsi = hkl[3];
+  if (myPsi > 0.1) {
+    iRetry = 1;
+  } else {
+    iRetry = 699;
+  }
+
+  z1 = calculateScatteringVector(self, hkl);
+
+  /* 
+     just the plain angle calculation
+   */
+  if (!z1mToBisecting(self->lambda, z1, &stt, &om, &chi, &phi)) {
+    return 0;
+  }
+
+  settings[0] = stt;
+  settings[1] = om;
+  settings[2] = -1.*(180.+chi) + 360.;
+  settings[3] = phi+180.;
+  if (iRetry == 1) {
+    rotatePsi(om, chi, phi, myPsi, &ompsi, &chipsi, &phipsi);
+    settings[1] = ompsi;
+    settings[2] = circlify(chipsi);
+    settings[3] = circlify(phipsi);
+    return 1;
+  } else {
+    if (hklInRange(self, settings, mask) == 1) {
+      return 1;
+    } else {
+      if (tryOmegaTweak(self, z1, &stt, &om, &chi, &phi) == 1) {
+        settings[0] = stt;
+        settings[1] = om;
+        settings[2] = chi;
+        settings[3] = phi;
+        return 1;
+      } else {
+        return findAllowedBisecting(self->lambda, z1, settings, hklInRangeOrion,
+                                    self);
+      }
+    }
+  }
+  return 0;
+}
+
 /*-------------------------------------------------------------------*/
 static int settingsToBiList(struct __SingleDiff *self, double *settings)
 {
@@ -471,3 +565,9 @@ void initializeSingleBisecting(pSingleDiff diff)
   diff->calcUBFromThree = calcBiUBFromThree;
   diff->calcZ1 = calcBiZ1;
 }
+/*--------------------------------------------------------------------*/
+void initializeSingleBisectingOrion(pSingleDiff diff)
+{
+  initializeSingleBisecting(diff);
+  diff->calculateSettings = calculateBiSettingsOrion;
+}