hkl/hkl-engine-soleil-nanoscopium-robot.c

   1 /* This file is part of the hkl library.
   2  *
   3  * The hkl library is free software: you can redistribute it and/or modify
   4  * it under the terms of the GNU General Public License as published by
   5  * the Free Software Foundation, either version 3 of the License, or
   6  * (at your option) any later version.
   7  *
   8  * The hkl library is distributed in the hope that it will be useful,
   9  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  11  * GNU General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License
  14  * along with the hkl library.  If not, see <http://www.gnu.org/licenses/>.
  15  *
  16  * Copyright (C) 2003-2020 Synchrotron SOLEIL
  17  *                         L'Orme des Merisiers Saint-Aubin
  18  *                         BP 48 91192 GIF-sur-YVETTE CEDEX
  19  *
  20  * Authors: Picca Frédéric-Emmanuel <picca@synchrotron-soleil.fr>
  21  */
  22 #include <gsl/gsl_sys.h>                // for gsl_isnan
  23 #include "hkl-factory-private.h"        // for autodata_factories_, etc
  24 #include "hkl-pseudoaxis-common-hkl-private.h"
  25
  26 #define RZ "rz"
  27 #define RS "rs"
  28 #define RX "rx"
  29 #define R "r"
  30 #define DELTA "delta"
  31 #define GAMMA "gamma"
  32
  33 /********/
  34 /* mode */
  35 /********/
  36
  37 static HklMode *lifting_detector_rz()
  38 {
  39         static const char *axes_r[] = {RZ, RS, RX, R, DELTA, GAMMA};
  40         static const char *axes_w[] = {RZ, DELTA, GAMMA};
  41         static const HklFunction *functions[] = {&RUBh_minus_Q_func};
  42         static const HklModeAutoInfo info = {
  43                 HKL_MODE_AUTO_INFO("lifting detector rz", axes_r, axes_w, functions),
  44         };
  45
  46         return hkl_mode_auto_new(&info,
  47                                  &hkl_full_mode_operations,
  48                                  TRUE);
  49 }
  50
  51 static HklMode *lifting_detector_rs()
  52 {
  53         static const char *axes_r[] = {RZ, RS, RX, R, DELTA, GAMMA};
  54         static const char *axes_w[] = {RS, DELTA, GAMMA};
  55         static const HklFunction *functions[] = {&RUBh_minus_Q_func};
  56         static const HklModeAutoInfo info = {
  57                 HKL_MODE_AUTO_INFO("lifting detector rs", axes_r, axes_w, functions),
  58         };
  59
  60         return hkl_mode_auto_new(&info,
  61                                  &hkl_full_mode_operations,
  62                                  TRUE);
  63 }
  64
  65 static HklMode *lifting_detector_rx()
  66 {
  67         static const char *axes_r[] = {RZ, RS, RX, R, DELTA, GAMMA};
  68         static const char *axes_w[] = {RX, DELTA, GAMMA};
  69         static const HklFunction *functions[] = {&RUBh_minus_Q_func};
  70         static const HklModeAutoInfo info = {
  71                 HKL_MODE_AUTO_INFO("lifting detector rx", axes_r, axes_w, functions),
  72         };
  73
  74         return hkl_mode_auto_new(&info,
  75                                  &hkl_full_mode_operations,
  76                                  TRUE);
  77 }
  78
  79 /**********************/
  80 /* pseudo axis engine */
  81 /**********************/
  82
  83 static HklEngine *hkl_engine_soleil_nanoscopium_robot_hkl_new(HklEngineList *engines)
  84 {
  85         HklEngine *self;
  86         HklMode *default_mode;
  87
  88         self = hkl_engine_hkl_new(engines);
  89
  90         default_mode = lifting_detector_rz();
  91         hkl_engine_add_mode(self, default_mode);
  92         hkl_engine_mode_set(self, default_mode);
  93
  94         hkl_engine_add_mode(self, lifting_detector_rs());
  95         hkl_engine_add_mode(self, lifting_detector_rx());
  96
  97         return self;
  98 }
  99
 100 /****************************/
 101 /* SOLEIL NANOSCOPIUM ROBOT */
 102 /****************************/
 103
 104 #define HKL_GEOMETRY_TYPE_SOLEIL_NANOSCOPIUM_ROBOT_DESCRIPTION          \
 105         "+ xrays source fix allong the :math:`\\vec{x}` direction (1, 0, 0)\n" \
 106         "+ 3 axes for the sample\n"                                     \
 107         "\n"                                                            \
 108         "  + **" RZ "** : rotation around the :math:`-\\vec{z}` direction (0, 0, -1)\n" \
 109         "  + **" RS "** : rotation around the :math:`\\vec{y}` direction (0, 1, 0)\n" \
 110         "  + **" RX "** : rotating around the :math:`-\\vec{x}` direction (-1, 0, 0)\n" \
 111         "\n"                                                            \
 112         "+ 3 axis for the detector\n"                                   \
 113         "\n"                                                            \
 114         "  + **" R "** : radius of the sphere\n"                        \
 115         "  + **" DELTA "** : rotation around the :math:`-\\vec{y}` direction (0, -1, 0)\n" \
 116         "  + **" GAMMA "** : rotation around the :math:`-\\vec{z}` direction (0, 0, -1)\n"
 117
 118 static const char* hkl_geometry_soleil_nanoscopium_robot_axes[] = {RZ, RS, RX, R, DELTA, GAMMA};
 119
 120 static HklGeometry *hkl_geometry_new_soleil_nanoscopium_robot(const HklFactory *factory)
 121 {
 122         HklGeometry *self = hkl_geometry_new(factory, &hkl_geometry_operations_defaults);
 123         HklHolder *h;
 124
 125         h = hkl_geometry_add_holder(self);
 126         hkl_holder_add_rotation(h, RZ, 0, 0, -1, &hkl_unit_angle_deg);
 127         hkl_holder_add_rotation(h, RS, 0, 1, 0, &hkl_unit_angle_deg);
 128         hkl_holder_add_rotation(h, RX, -1, 0, 0, &hkl_unit_angle_deg);
 129
 130         h = hkl_geometry_add_holder(self);
 131         hkl_holder_add_parameter(h, R, &hkl_unit_length_meter);
 132         hkl_holder_add_rotation(h, DELTA, 0, -1, 0, &hkl_unit_angle_deg);
 133         hkl_holder_add_rotation(h, GAMMA, 0, 0, -1, &hkl_unit_angle_deg);
 134
 135         return self;
 136 }
 137
 138 static HklEngineList *hkl_engine_list_new_soleil_nanoscopium_robot(const HklFactory *factory)
 139 {
 140         HklEngineList *self = hkl_engine_list_new();
 141
 142         hkl_engine_soleil_nanoscopium_robot_hkl_new(self);
 143
 144         return self;
 145 }
 146
 147 REGISTER_DIFFRACTOMETER(soleil_nanoscopium_robot, "SOLEIL NANOSCOPIUM ROBOT", HKL_GEOMETRY_TYPE_SOLEIL_NANOSCOPIUM_ROBOT_DESCRIPTION);