- added backwards calculation of hkl from four circle angles. This

required inclusion of a matrix package.
- modified  counter error handling to send a Stop when the _BAD_BUSY
  error is received.
- added an environment interface to the general controller stuff in choco.*
  Also added setting a parameter directly at the controller object.
- Added a driver for the ETH High Temperature Furnace to be used at
  SANS.

hkl.c

@@ -18,6 +18,7 @@
 #include "motor.h"
 #include "selector.h"
 #include "selvar.h"
+#include "matrix/matrix.h"
 #include "hkl.h"
 #include "hkl.i"
 /*-------------------------------------------------------------------------*/
@@ -79,6 +80,7 @@
      pNew->fUB[0] = 1.;
      pNew->fUB[4] = 1.;
      pNew->fUB[8] = 1.;
+     pNew->UBinv = NULL;
      
      return pNew;
   }
@@ -306,6 +308,7 @@
   int SetUB(pHKL self, float fUB[9])
   {
     int i;
+    MATRIX m;
     
     assert(self);
     
@@ -313,6 +316,21 @@
     {
       self->fUB[i] = fUB[i];
     }
+    /* invert UB matrix for use in backwards calculation */
+    if(self->UBinv != NULL)
+    {
+         mat_free(self->UBinv);
+    }  
+    m = mat_creat(3,3,ZERO_MATRIX);
+    for(i = 0; i < 3; i++)
+    {
+       m[0][i] = self->fUB[i];
+       m[1][i] = self->fUB[3+i];
+       m[2][i] = self->fUB[6+i];
+    }  
+    self->UBinv = mat_inv(m);
+    mat_free(m);
+
     return 1;
   }    
 /*-------------------------------------------------------------------------*/
@@ -1183,6 +1201,42 @@ ente:
 
      return iResult;
   }
+/*-------------------------------------------------------------------------
+  For the conversion from angles to HKL.
+  -------------------------------------------------------------------------*/
+  static int angle2HKL(pHKL self ,double tth, double om, 
+                          double chi, double phi, float fHKL[3])  
+  {
+     double dTh, dOm, dChi, dPhi, dHM;
+     MATRIX res, rez;
+     int i;
+
+     /* conversion to radians */
+     dTh = tth/(2*RD);
+     dOm = (om - tth/2.)/RD;
+     dChi = chi/RD;
+     dPhi = phi/RD;
+     dHM = 2* sin(dTh)/self->fLambda;
+
+     /* angles to XYZ, stolen from DIFRAC code in PRPXYZ */
+     res = mat_creat(3,1,ZERO_MATRIX);
+     res[0][0] =  dHM*(cos(dChi)*cos(dPhi)*cos(dOm) -
+                    sin(dPhi)*sin(dOm));
+     res[1][0] = dHM*(cos(dChi)*sin(dPhi)*cos(dOm) +
+                 cos(dPhi)*sin(dOm));
+     res[2][0] = dHM*sin(dChi)*cos(dOm);
+
+     /* multiply with UBinv in order to yield HKL */
+     rez = mat_mul(self->UBinv,res);
+     for(i = 0; i < 3; i++)
+     {
+        fHKL[i] = rez[i][0];
+     }  
+     mat_free(res);
+     mat_free(rez);
+  
+     return 1;
+  }
 /*--------------------------------------------------------------------------*/
   int isNumeric(char *pText)
   {
@@ -1312,10 +1366,28 @@ ente:
 /*----------- current */     
      else if(strcmp(argv[1],"current") == 0)
      {
-        sprintf(pBueffel,"Last HKL:  %8.4f %8.4f %8.4f ",
-                self->fLastHKL[0], self->fLastHKL[1],self->fLastHKL[2]);
-        SCWrite(pCon,pBueffel,eValue);
-        return 1;                        
+        if(self->iNOR)
+	{
+           sprintf(pBueffel,"Last HKL:  %8.4f %8.4f %8.4f ",
+                   self->fLastHKL[0], self->fLastHKL[1],self->fLastHKL[2]);
+           SCWrite(pCon,pBueffel,eValue);
+           return 1;
+        } 
+        else 
+	{
+	  /* do a serious calculation based on angles */
+          iRet = GetCurrentPosition(self,pCon,fSet);
+          if(iRet == 0)
+	  {
+            return;
+          }
+          angle2HKL(self,(double)fSet[0],(double)fSet[1],
+                    (double)fSet[2],(double)fSet[3],fHKL);
+          sprintf(pBueffel,"Current HKL:  %8.4f %8.4f %8.4f ",
+                   fHKL[0], fHKL[1],fHKL[2]);
+           SCWrite(pCon,pBueffel,eValue);
+           return 1;
+        }                        
      }
 /*------------- lambda */
      else if(strcmp(argv[1],"lambda") == 0)