- Added Sycamore protocol and command context to SICS

- Added sinfo to SICS
- Added driver for TCP/IP Astrium velocity selector
- Added driver for TCP/IP Astrium chopper controller


SKIPPED:
	psi/amor2t.c
	psi/amorstat.c
	psi/dornier2.c
	psi/ecb.c
	psi/el734hp.c
	psi/fowrite.c
	psi/libpsi.a
	psi/make_gen
	psi/nextrics.c
	psi/pardef.c
	psi/pimotor.c
	psi/pipiezo.c
	psi/polterwrite.c
	psi/psi.c
	psi/scontroller.c
	psi/serial.c
	psi/tasinit.c
	psi/tasscan.c
	psi/tcpdocho.c
	psi/tcpdornier.c
	psi/tricssupport.c
	psi/velodornier.c

fourlib.c

@@ -450,6 +450,59 @@ double sign(double a, double b){
     return -ABS(a);
   }
 }
+/*--------------------------------------------------------------------*/
+static void makeNull(double *gamma, double *om, double *nu){
+    *gamma = .0;
+    *om = .0;
+    *nu = .0;
+}
+/*---------------------------------------------------------------------*/
+int z1mToNormalBeam(double lambda, MATRIX z1m, double *gamma, double *om, double *nu){
+    MATRIX dum, znew;
+    double d, a, b, sint, theta, omdeg;
+    int status;
+
+    status = calcTheta(lambda,z1m,&d,&theta);
+    if(!status){
+        makeNull(gamma,om,nu);
+	return status;
+    }
+    
+    /* Everything on omega axis is blind: test for this */
+    a = sqrt(z1m[0][0] * z1m[0][0] + z1m[1][0] * z1m[1][0]);
+    if(ABS(a) < .0001) {
+        makeNull(gamma,om,nu);
+	return 0;
+    }  
+    
+    sint = sin(theta/RD);
+    b = 2.*sint*sint/(lambda*a);
+    if(b >= 1.) {
+        makeNull(gamma,om,nu);
+	return 0;
+    }
+    a = -atan2(z1m[1][0], -z1m[0][0]);
+    b = -asin(b);
+    *om = a + b;
+    omdeg = *om*RD;
+    dum = mat_creat(3,3,ZERO_MATRIX);
+    phimat(dum,omdeg);
+    znew = mat_mul(dum,z1m);
+    if(znew[0][0] < 0) {
+	*om = *om -2.*atan2(-znew[0][0], -znew[2][0]);
+        omdeg = *om * RD; 
+    }
+    b = (sign(180.,omdeg)+ omdeg)/360.;
+    /* omdeg = omdeg - 360. * floor(b); */
+    *nu = asin(lambda*z1m[2][0]);
+    *gamma = acos(cos(2.*(theta/RD)))/cos(*nu);
+    *om = omdeg;    
+    *nu = *nu * RD;
+    *gamma = *gamma * RD;
+    mat_free(dum);
+    mat_free(znew);
+    return 1;
+}
 /*----------------------------------------------------------------------*/
 int bisToNormalBeam(double twotheta, double omega, double chi, double phi,
 		double *omeganb, double *gamma, double *nu){