- Removed -fwritable-string
SKIPPED: psi/dornier2.c psi/ecbdriv.c psi/el734hp.c psi/libpsi.a psi/make_gen psi/makefile_linux psi/pimotor.c psi/pipiezo.c psi/sinqhttp.c psi/tcpdornier.c psi/velodornier.c
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koennecke
356
cone.c
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356
cone.c
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/*----------------------------------------------------------------------
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SICS cone module for cone scans. Form more details see conescan.tex
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and cone.tex.
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COPYRIGHT: see file COPYRIGHT
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Mark Koennecke, March 2006
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------------------------------------------------------------------------*/
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#include <stdio.h>
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#include <assert.h>
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#include "cone.h"
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#include "hkl.i"
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#include "vector.h"
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#include "fourlib.h"
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/*=================== Object Descriptor Interface ===================================================*/
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static void *ConeGetInterface(void *pData, int iID){
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pConeData self = NULL;
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self = (pConeData)pData;
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if(self == NULL){
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return NULL;
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}
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if(iID == DRIVEID){
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return self->pDriv;
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}
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return NULL;
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}
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/*---------------------------------------------------------------------------------------------------*/
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static void ConeSaveStatus(void *data, char *name, FILE *fd){
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pConeData self = (pConeData)data;
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if(self == NULL){
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return;
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}
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fprintf(fd,"%s center %d\n", name,self->center);
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fprintf(fd,"%s target %f %f %f\n", name, self->target.h,
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self->target.k, self->target.l);
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}
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/*=================== Drivable Interface ============================================================*/
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static int ConeHalt(void *pData){
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pConeData self = NULL;
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self = (pConeData)pData;
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assert(self != NULL);
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self->pHkl->pTheta->pDrivInt->Halt(self->pHkl->pTheta);
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self->pHkl->pOmega->pDrivInt->Halt(self->pHkl->pOmega);
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self->pHkl->pChi->pDrivInt->Halt(self->pHkl->pChi);
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self->pHkl->pPhi->pDrivInt->Halt(self->pHkl->pPhi);
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return 1;
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}
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/*-----------------------------------------------------------------------------------------------------*/
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static int ConeCheckLimits(void *self, float fVal, char *error, int errLen){
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/*
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There is no meaningful implementation here. This gets called when starting the motor.
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At that stage not all other values may be known. If the calculation fails, this will die
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at status check time.
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*/
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return 1;
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}
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/*------------------------------------------------------------------------*/
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static MATRIX makeCsToPsiMatrix(reflection center, double lambda){
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MATRIX psiToCs = NULL, csToPsi = NULL, t1, t2;
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double z1[3], u;
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psiToCs = makeInstToConeVectorMatrix(center,lambda);
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if(psiToCs == NULL){
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return NULL;
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}
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csToPsi = mat_inv(psiToCs);
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/*
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* this is debugging code: remove together with variables
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*/
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z1FromAngles(lambda,center.s2t,center.om,center.chi,center.phi,z1);
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t1 = makeVectorInit(z1);
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t2 = mat_mul(psiToCs,t1);
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normalizeVector(t2);
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t1[0][0] = .0;
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t1[1][0] = .0;
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t1[2][0] = 1.;
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u = angleBetween(t1,t2);
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mat_free(psiToCs);
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return csToPsi;
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}
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/*----------------------------------------------------------------------------------------------------
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* I am lazy in this function: I calculate anew from all the data. This saves
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* me a lot of trouble keeping track of parameter changes in UBCALC etc.
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* ---------------------------------------------------------------------------*/
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static long ConeSetValue(void *pData, SConnection *pCon, float fVal){
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pConeData self = NULL;
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float fSet[4];
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double openingAngle, length, testAngle;
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MATRIX csToPsi = NULL, B = NULL, newScat = NULL, cent;
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int status;
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reflection center;
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char buffer[131];
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double z1[3];
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if(!SCMatchRights(pCon,usUser)){
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return 0;
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}
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self = (pConeData)pData;
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assert(self != NULL);
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/*
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* calculate opening angle
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*/
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B = mat_creat(3,3,UNIT_MATRIX);
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status = calculateBMatrix(self->ubi->direct,B);
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if(status < 0){
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SCWrite(pCon,"ERROR: cell has no volume",eError);
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return 0;
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}
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center = getReflection(self->ubi,self->center);
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openingAngle = angleBetweenReflections(B,center,self->target);
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/*
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* calculate conversion matrix from cone system to PSI system
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*/
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csToPsi = makeCsToPsiMatrix(center,self->ubi->hkl->fLambda);
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if(csToPsi == NULL){
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SCWrite(pCon,"ERROR: bad parameters: failed to generate conversion matrix",
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eError);
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return 0;
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}
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/*
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* calculate scattering vector on cone and make its length
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* match the length of the apropriate scattering vector
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*/
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length = scatteringVectorLength(B,self->target);
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newScat = calcConeVector(openingAngle, fVal, length, csToPsi);
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if(newScat == NULL){
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SCWrite(pCon,"ERROR: fails to calculate cone vector",eError);
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return 0;
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}
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/**
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* this is debugging code
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*/
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length = vectorLength(newScat);
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z1FromAngles(self->ubi->hkl->fLambda,center.s2t,center.om,center.chi,
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center.phi,z1);
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cent = makeVectorInit(z1);
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testAngle = angleBetween(cent,newScat);
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snprintf(buffer,131,"OpeningAngle = %f, testAngle = %f, length = %f",
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openingAngle,testAngle,length);
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SCWrite(pCon,buffer,eWarning);
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/*
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* try to find setting angles for this vector
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*/
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status = findAllowedBisecting(self->pHkl->fLambda,newScat, fSet,
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hklInRange, self->pHkl);
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/*
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* clean up matrices
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*/
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mat_free(B);
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mat_free(newScat);
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mat_free(csToPsi);
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if(status != 1){
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SCWrite(pCon,"ERROR: cannot get cone vector into scattering position",
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eError);
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SCSetInterrupt(pCon,eAbortOperation);
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return 0;
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}
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self->lastConeAngle = fVal;
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/*
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* start motors
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*/
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return startHKLMotors(self->pHkl, pCon,fSet);
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}
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/*---------------------------------------------------------------------------------------------------*/
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static int checkMotors(pConeData self, SConnection *pCon){
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int status;
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status = self->pHkl->pTheta->pDrivInt->CheckStatus(self->pHkl->pTheta, pCon);
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if(status != HWIdle && status != OKOK){
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return status;
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}
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status = self->pHkl->pOmega->pDrivInt->CheckStatus(self->pHkl->pOmega, pCon);
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if(status != HWIdle && status != OKOK){
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return status;
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}
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status = self->pHkl->pChi->pDrivInt->CheckStatus(self->pHkl->pChi, pCon);
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if(status != HWIdle && status != OKOK){
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return status;
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}
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status = self->pHkl->pPhi->pDrivInt->CheckStatus(self->pHkl->pPhi, pCon);
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if(status != HWIdle && status != OKOK){
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return status;
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}
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return HWIdle;
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}
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/*-----------------------------------------------------------------------------------------------------*/
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static int ConeCheckStatus(void *pData, SConnection *pCon){
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pConeData self = NULL;
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int status;
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self = (pConeData)pData;
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assert(self != NULL);
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return checkMotors(self,pCon);
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}
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/*-----------------------------------------------------------------------------------------------------*/
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static float ConeGetValue(void *pData, SConnection *pCon){
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pConeData self = NULL;
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float fVal[3];
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int status;
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self = (pConeData)pData;
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assert(self != NULL);
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return self->lastConeAngle;
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}
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/*=============================== Live and Death ====================================*/
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static pConeData MakeConeMot(pUBCALC u){
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pConeData self = NULL;
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assert(u != NULL);
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self = (pConeData)malloc(sizeof(coneData));
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if(self == NULL){
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return NULL;
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}
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memset(self,0,sizeof(coneData));
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self->pDes = CreateDescriptor("Cone");
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self->pDriv = CreateDrivableInterface();
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if(self->pDes == NULL || self->pDriv == NULL){
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free(self);
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return NULL;
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}
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self->pDes->GetInterface = ConeGetInterface;
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self->pDriv->Halt = ConeHalt;
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self->pDriv->CheckLimits = ConeCheckLimits;
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self->pDriv->SetValue = ConeSetValue;
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self->pDriv->CheckStatus = ConeCheckStatus;
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self->pDriv->GetValue = ConeGetValue;
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self->ubi = u;
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self->pHkl = u->hkl;
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return self;
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}
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/*----------------------------------------------------------------------------------*/
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static void KillConeMot(void *pData){
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pConeData self = NULL;
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self = (pConeData)pData;
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if(self == NULL){
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return;
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}
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if(self->pDes != NULL){
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DeleteDescriptor(self->pDes);
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}
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if(self->pDriv){
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free(self->pDriv);
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}
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free(self);
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}
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/*=============================== Interpreter Interface ============================*/
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int ConeAction(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]){
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pConeData self = NULL;
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float value;
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int id;
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char pBuffer[132];
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self = (pConeData)pData;
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assert(self != NULL);
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if(argc > 1) {
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strtolower(argv[1]);
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if(strcmp(argv[1],"center") == 0){
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if(argc > 2){
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if(!SCMatchRights(pCon,usUser)){
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return 0;
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}
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id = atoi(argv[2]);
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if(id < 0 || id > 2 ){
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SCWrite(pCon,"ERROR: id must be between 0 - 3",eError);
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return 0;
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}
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self->center = id;
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SCSendOK(pCon);
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return 1;
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} else {
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snprintf(pBuffer,131,"%s.center = %d", argv[0], self->center);
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SCWrite(pCon,pBuffer,eValue);
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return 1;
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}
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} else if (strcmp(argv[1],"target") == 0){
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if(argc >= 5){
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if(!SCMatchRights(pCon,usUser)){
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return 0;
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}
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self->target.h = atof(argv[2]);
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self->target.k = atof(argv[3]);
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self->target.l = atof(argv[4]);
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SCSendOK(pCon);
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return 1;
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} else {
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snprintf(pBuffer,131,"%s.target = %f %f %f", argv[0],
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self->target.h, self->target.k, self->target.l);
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SCWrite(pCon,pBuffer,eValue);
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return 1;
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}
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} else {
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SCWrite(pCon,"ERROR: subcommand to cone not known",eError);
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return 0;
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}
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}
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/*
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* default: print value
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*/
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value = self->pDriv->GetValue(self,pCon);
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if(value < -9000.){
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snprintf(pBuffer,131,"ERROR: failed to read %s",argv[0]);
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SCWrite(pCon,pBuffer,eError);
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return 0;
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}
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snprintf(pBuffer,131,"%s = %f", argv[0], value);
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SCWrite(pCon,pBuffer,eValue);
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return 1;
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}
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/*------------------------------------------------------------------------------------------*/
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int MakeCone(SConnection *pCon, SicsInterp *pSics, void *pData, int argc, char *argv[]){
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pUBCALC ubi = NULL;
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pConeData pMot = NULL;
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char pBuffer[131];
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int status;
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if(argc < 3){
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SCWrite(pCon,"ERROR: insuffient number of arguments to MakeCone",eError);
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return 0;
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}
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ubi = FindCommandData(pSics,argv[2],"UBcalc");
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if(ubi == NULL){
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snprintf(pBuffer,131,"ERROR: %s is no UBcalc object" , argv[2]);
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SCWrite(pCon,pBuffer,eError);
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return 0;
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}
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pMot = MakeConeMot(ubi);
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if(pMot == NULL){
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SCWrite(pCon,"ERROR: out of memory creating cone virtual motor",eError);
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return 0;
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}
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status = AddCommand(pSics,argv[1],ConeAction,KillConeMot,pMot);
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if(status != 1){
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SCWrite(pCon,"ERROR: failed to create duplicate cone motor",eError);
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}
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return status;
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}
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