//------------------------------------------------------------------------------
// setSearchVolume() -- set the scanning volume width & height and scan mode
//------------------------------------------------------------------------------
bool ScanGimbal::setSearchVolume(const double width, const double height, const int reqBars)
{
// In all cases, set the volume size
setScanWidth(width);
scanHeight = height;
if (reqBars != 1 && reqBars != 2 && reqBars != 3 && reqBars != 4) {
if (scanHeight < (Basic::Angle::D2RCC * 1.0f))
numBars = 1;
else if (scanHeight < (Basic::Angle::D2RCC * 5.0f))
numBars = 2;
else if (scanHeight < (Basic::Angle::D2RCC * 10.0f))
numBars = 3;
else
numBars = 4;
}
else numBars = reqBars;
if ((numBars % 2) != 0)
oddNumberOfBars = true;
else {
oddNumberOfBars = false;
reverseScan = false;
}
// set our barSpacing
setBarSpacing(scanHeight/(numBars));
// and start the bar scan (always horizontal)
setScanMode(HORIZONTAL_BAR_SCAN);
return true;
}
//------------------------------------------------------------------------------
// pseudoRandomScanController() -- steps through an array of vertices (fast slew)
//------------------------------------------------------------------------------
void ScanGimbal::pseudoRandomScanController(const double)
{
static Basic::Integer iBar(1);
// Depending on our scan state, we will either start or stop the bar
switch(getScanState()) {
// reset state, must be in electronic mode or we will not operate
case 0: {
if (prScanVertices != 0) {
if ( isGimbalType(ELECTRONIC) ) {
setServoMode(POSITION_SERVO);
setFastSlewMode(true);
setScanState(1);
}
else setScanMode(MANUAL_SCAN);
}
}
break;
case 1: {
// start state - go to the desired pseudo random point (must be in electric mode)
if (isPositioned() || isAtLimits()) {
// make sure we have at least one vertice, then move to it
if (nprv != 0 && cprv <= nprv) {
// if this is the first vertice, send a start event
if (cprv == 0) {
// Trigger the SCAN_START event handler
onStartScanEvent(&iBar);
}
else {
setScanPos(prScanVertices[cprv].x(), prScanVertices[cprv].y());
cprv++;
}
}
// when we reach the end
else setScanState(2);
}
}
break;
case 2: {
// end state - reset our vertice count and send an end event
if (isPositioned() || isAtLimits()) {
// Trigger the SCAN_END event handler
onEndScanEvent(&iBar);
// set us back to the first vertice
cprv = 0;
setScanState(1);
}
}
break;
}
// now set our commanded position accordingly
setCmdPos(getRefPosition()+getScanPos());
}
// setSlotScanMode() -- calls setScanMode()
bool ScanGimbal::setSlotScanMode(Basic::String* const newMode)
{
// set our scan mode
bool ok = true;
if (newMode != 0) {
if (*newMode == "manual") ok = setScanMode(MANUAL_SCAN);
else if (*newMode == "horizontal") ok = setScanMode(HORIZONTAL_BAR_SCAN);
else if (*newMode == "vertical") ok = setScanMode(VERTICAL_BAR_SCAN);
else if (*newMode == "conical") ok = setScanMode(CONICAL_SCAN);
else if (*newMode == "circular") ok = setScanMode(CIRCULAR_SCAN);
else if (*newMode == "pseudorandom") ok = setScanMode(PSEUDO_RANDOM_SCAN);
else if (*newMode == "spiral") ok = setScanMode(SPIRAL_SCAN);
else ok = false;
}
return ok;
}
void ScannerSettings::scanModeChanged(int m)
{
setScanMode(m);
}
