- Added separate drivable motors for four circle H, K, L

- Added a listen mode to commandlog in order to support the batchEditor
- Some small fixes to exe* for BatchEditor

hkl.w

@@ -8,6 +8,9 @@ provided by Jean Allibon, ILL with the MAD four circle diffractometer
 control program in  ANSI-C. For theory, see the contribution by 
 W.C. Hamilton in the International Tables for Crystallography, 1974 edition.
 
+There is a sister object to HKL which uses HKL to implement virtual motors for
+H, K, and L. See below for the description
+
 The object uses the following object data structure:
 @d hkldat @{
    typedef struct __HKL {
@@ -28,6 +31,8 @@ The object uses the following object data structure:
                          pSelVar pMono;
                          long lID;
 			 float scanTolerance;
+			 float targetHKL[3];
+			 int targetDirty;
                          } HKL;
 @}
 
@@ -52,7 +57,10 @@ checking.
  This is detector tilt.
 \item[pMono] The selector variable doing the wavelength.
 \item[scanTolerance] The hkl module refuses to position a reflection if it is 
-to close to omega limits for scanning. This is the tolerance to use. 
+to close to omega limits for scanning. This is the tolerance to use.
+\item[targetHKL] The target HKL values to support the H, K, L virtual motors
+\item[targetDirty] A flag which is set when the virtual motors have to recalculate the
+ settings and to drive. 
 \end{description}
 
 The wavelength is a bit tricky. As it would be to time consuming to read two
@@ -85,6 +93,7 @@ module:
   int GetLambda(pHKL self, float *fVal);
   int GetCurrentHKL(pHKL self, float fVal[3]);
   int GetCurrentPosition(pHKL self, SConnection *pCon, float fPosition[4]);
+  int GetHKLFromAngles(pHKL self, SConnection *pCon, float fVal[3]);	
 
   int CalculateSettings(pHKL self, float fHKL[3], float fPsi, int iHamil,
                         float fSet[4],SConnection *pCon);
@@ -141,6 +150,7 @@ pointer to the connection object doing the command for error messages and
 everything.  The error returns are the same as with CalculateSettings
 well. With the addition of HKJMOTFAIL, which means that a motor failed to
 drive properly.  
+\item[GetHKLFromAngles] calculates the current HKL from Angles.
 \item[DriveSettings] drives to the the settings given in fSet.
 \item[HKLAction] is the interpreter wrapper function for the HKL object.
 \end{description}
@@ -178,3 +188,58 @@ drive properly.
 @<hklint@>
 #endif  
 @}
+
+\subsubsection{The Crystallographic Virtual Motor Object}
+This module implements virtual motors H, K and L on top of the HKL object. It was choosen to implement this
+in a separate module because the hkl module is already big and complex enough. The problem is how to
+keep track of the necessary settings for HKL because the motors are interrelated. This is solved in the
+following scheme:
+\begin{itemize}
+\item Starting any of the motors H, K or L results in new values to be set in the HKL internal data
+ structure and a dirty flag to be set.
+\item On a call to the drivable interfaces status function the dirty flag is checked and, if
+ appropriate, the motor positions are recalculated and the motors started. 
+\item H, K and L values are recalculated from motors on each read.
+\end{itemize}
+For each virtual motor an internal data structure is required:
+@d hklmotdat @{
+typedef 	struct __HKLMOT {
+			pObjectDescriptor pDes;
+			pHKL pHkl;
+			pIDrivable pDriv;
+			int index;
+			}HKLMot, *pHKLMot;
+@}
+The fields are:\begin{description}
+\item[pDes] The required object descriptor.
+\item[pHkl] The HKL object to use for calculations.
+\item[pDriv] The drivable interface.
+\item[index] The index of the motors target in the targetHKL array in the HKL structure.  
+\end{description}
+The target HKL and the dirty flag is in the main HKL data structure. 
+
+There is no external interface to this, all the functionality is hidden in the drivable interface
+functions. The interpreter interface is minimal: only a value request is supported. There is
+ however a factory function in order to install the HKL motors into the interpreter.
+
+@o hklmot.h @{
+/*------------------------------------------------------------------------------------------------------
+ Virtual motor interface to reciprocal space coordinates H, K and L for a four circle diffractometer.
+ Requires a HKL object for calculations.
+
+ copyright: see file COPYRIGHT
+
+ Mark Koennecke, February 2005
+--------------------------------------------------------------------------------------------------------*/
+#ifndef SICSHKLMOT
+#define SICSHKLMOT
+/*====================== data structure ==============================================================*/
+@<hklmotdat@>
+/*======================= interpreter interface ======================================================*/
+int HKLMotAction(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]);
+int HKLMotInstall(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]);
+
+#endif
+
+  	
+@}