- made fixes to hkl

- Introduced a help system
- introduced a module for handling automatic updates of files during
  long measurements
- Added a circular buffer and handling facilities to varlog
- Upgraded documentation


SKIPPED:
	psi/faverage.h
	psi/nxamor.tex
	psi/pimotor.h
	psi/pimotor.tex

hkl.c

@@ -18,6 +18,10 @@
    three detectors.
 
    Mark Koennecke, May 2002
+
+   Added handling of the chi ==0 or chi == 180 degree case to tryTweakOmega
+
+   Mark Koennecke, December 2003
 -----------------------------------------------------------------------------*/
 #include <math.h>
 #include <ctype.h>
@@ -35,6 +39,11 @@
   the space we leave in omega in order to allow for a scan to be done 
 */
 #define SCANBORDER 3.
+/*
+  the tolerance in chi we give before we allow to fix omega with phi
+*/
+#define CHITOLERANCE 3.
+#define ABS(x) (x < 0 ? -(x) : (x)) 
 /*-------------------------------------------------------------------------*/
    static int HKLSave(void *pData, char *name, FILE *fd)
    {
@@ -466,9 +475,22 @@ static int checkNormalBeam(double om, double *gamma, double nu,
    }
    return 0;
 }
+/*--------------------------------------------------------------------*/
+static int chiVertical(double chi){
+  if(ABS(chi - .0) < CHITOLERANCE){
+    return 1;
+  }
+  if(ABS(chi - 180.0) < CHITOLERANCE){
+    return 1;
+  }
+  return 0;
+} 
 /*-----------------------------------------------------------------------
   tryOmegaTweak tries to calculate a psi angle in order to put an
   offending omega back into range.
+
+  This routine also handles the special case when chi ~ 0 or chi ~ 180.
+  Then it is possible to fix a omega problem by turing in phi.
   -----------------------------------------------------------------------*/
 static int tryOmegaTweak(pHKL self, MATRIX z1, double *stt, double *om, 
 			 double *chi, double *phi){
@@ -506,6 +528,22 @@ static int tryOmegaTweak(pHKL self, MATRIX z1, double *stt, double *om,
   omOffset = *om - omTarget;
   omOffset = -omOffset;
   
+  /*
+    check for the special case of chi == 0 or chi == 180
+  */
+  if(chiVertical(*chi)){
+    dumstt = *stt;
+    offom = omTarget;
+    offchi = *chi;
+    offphi = *phi - omOffset;
+    if(checkBisecting(self,&dumstt,offom,offchi,offphi)){
+      *om = offom;
+      *chi = offchi;
+      *phi = offphi;
+      return 1;
+    }
+  }
+
   /*
     calculate angles with omega offset 
   */
@@ -622,8 +660,6 @@ static int calculateBisecting(MATRIX z1, pHKL self, SConnection *pCon,
 
   return 0;
 }
-/*----------------------------------------------------------------------*/
-#define ABS(x) (x < 0 ? -(x) : (x)) 
 /*-----------------------------------------------------------------------*/
 static int calculateNormalBeam(MATRIX z1, pHKL self, SConnection *pCon,
 			      float fSet[4], double myPsi, int iRetry)
@@ -1508,14 +1544,14 @@ ente:
        }
        else
        {
-         sprintf(pBueffel," theta = %f, omega = %f, chi = %f, phi = %f",
+         sprintf(pBueffel," 2-theta = %f, omega = %f, chi = %f, phi = %f",
                fSet[0], fSet[1], fSet[2],fSet[3]);
           SCWrite(pCon,pBueffel,eValue);
        }
        if(!iRet)
        {
          SCWrite(pCon,
-           "WARNING: Settings violate motor limits or cannot be calculated",
+           "WARNING: Cannot drive to the hkl of your desire",
            eWarning); 
          return 0;
        }