//------------------------------------------------------------------------------
// circularScanController() -- controls the circular scans
//------------------------------------------------------------------------------
void ScanGimbal::circularScanController(const double)
{
static Basic::Integer iBar(1);
// Depending on our scan state, we will either start or stop the bar
switch(getScanState()) {
// reset state: move to ref position
case 0: {
setServoMode(POSITION_SERVO);
setFastSlewMode(true);
setCmdPos(getRefPosition());
setScanState(1);
}
break;
case 1: {
// wait state
if (isPositioned() || isAtLimits()) {
setScanState(2); // out of state 1
}
break;// fall into state 2
}
case 2: {
// start scan - switch to a rate servo, and begin spinning at a commanded rate
// Trigger the SCAN_START event handler
onStartScanEvent(&iBar);
setServoMode(RATE_SERVO);
setFastSlewMode(false);
myLastAngle = Basic::Angle::aepcdRad(getPosition().x() - getRefPosition().x());
setScanState(3);
}
break;
case 3: {
// end scan - finished with one rotation, start over again
bool onceAround = false;
double myAngle = Basic::Angle::aepcdRad(getPosition().x() - getRefPosition().x());
// clockwise
if(getCmdAzRate() >= 0.0) {
onceAround = (myLastAngle < 0.0 && myAngle >= 0.0);
}
// we are going counter-clockwise
else {
onceAround = (myLastAngle >= 0.0 && myAngle < 0.0);
}
myLastAngle = myAngle;
if (onceAround) {
// Trigger the SCAN_END event handler
onEndScanEvent(&iBar);
// start over with our scan (another revolution)
setScanState(2);
}
}
}
}
//------------------------------------------------------------------------------
// 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());
}
//------------------------------------------------------------------------------
// barScanController() -- control the bar scans
//------------------------------------------------------------------------------
void ScanGimbal::barScanController(const double)
{
static Basic::Integer iBar(1);
// Depending on our scan state, we will either start or stop the bar
switch(getScanState()) {
// reset state, we must set our bar number back to 1
case 0: {
setBarNumber(1);
computeNewBarPos(getBarNumber(), BEGINNING);
setScanState(1);
setServoMode(POSITION_SERVO);
setFastSlewMode(true);
}
break;
case 1: {
// start state - slow slew and compute the end position
if (isPositioned() || isAtLimits()) {
iBar = getBarNumber();
// Trigger the SCAN_START event handler
onStartScanEvent(&iBar);
computeNewBarPos(getBarNumber(), ENDING);
setScanState(2);
setFastSlewMode(false);
}
}
break;
case 2: {
// end state - fast slew and compute the next bar's position (if any)
if (isPositioned() || isAtLimits()) {
iBar = getBarNumber();
// Trigger the SCAN_END event handler
onEndScanEvent(&iBar);
nextBar();
computeNewBarPos(getBarNumber(), BEGINNING);
setScanState(1);
setFastSlewMode(true);
}
}
break;
}
// now set our commanded position accordingly
setCmdPos(getRefPosition()+getScanPos());
}
//------------------------------------------------------------------------------
// spiralScanController() -- controls the spiral scan
//------------------------------------------------------------------------------
void ScanGimbal::spiralScanController(const double dt)
{
double degPerDT = (getRevPerSec() * 360.0) * dt;
static Basic::Integer iBar(1);
switch(getScanState()) {
// reset state: move to ref position
case 0: {
setServoMode(POSITION_SERVO);
setFastSlewMode(true);
setScanState(1);
setConAngle(0);
setNumRevs(0.0);
}
break;
case 1: {
// wait state
if (isPositioned() || isAtLimits()) {
setScanState(2); // out of state 1
}
break;// fall into state 2
}
case 2: {
// start scan
setFastSlewMode(false);
setConAngle(getConAngle() + degPerDT);
if (fabs(getConAngle()) > 360.0) {
setNumRevs(getNumRevs()+1);
if (getConAngle() >= 0.0) {
setConAngle(getConAngle() - 360.0);
} else {
setConAngle(getConAngle() + 360.0);
}
}
// Trigger the SCAN_START event handler
onStartScanEvent(&iBar);
setScanState(3);
}
break;
case 3: {
// turn revolutions per second into degrees per sec per frame
// now we get this to each time step
setConAngle(getConAngle() + degPerDT);
if (fabs(getConAngle()) > 360.0) {
setNumRevs(getNumRevs()+1);
if (getConAngle() >= 0.0) {
setConAngle(getConAngle() - 360.0);
} else {
setConAngle(getConAngle() + 360.0);
}
}
// end scan - finished with one rotation, check if our reference has moved
bool onceAround = false;
if (getNumRevs() >= getMaxNumRevs()) {
onceAround = true;
}
// after one revolution
if (onceAround) {
// Trigger the SCAN_END event handler
onEndScanEvent(&iBar);
setConAngle(0.0);
setNumRevs(0.0);
setScanState(2);
}
}
break;
}
double fullAngleRadians = getNumRevs() * 360.0;
if (getRevPerSec() < 0.0) {
fullAngleRadians = -fullAngleRadians;
}
fullAngleRadians = (fullAngleRadians + getConAngle()) * Basic::Angle::D2RCC;
// azimuth
double newX = getScanRadius() * (fullAngleRadians / (2.0 * PI)) * sin(fullAngleRadians);
// elevation
double newY = getScanRadius() * (fullAngleRadians / (2.0 * PI)) * cos(fullAngleRadians);
setScanPos(newX, newY);
// command our new position
setCmdPos(getRefPosition() + getScanPos());
}
//------------------------------------------------------------------------------
// conicalScanController() -- controls the conical scans
//------------------------------------------------------------------------------
void ScanGimbal::conicalScanController(const double dt)
{
double degPerDT = (getRevPerSec() * 360.0) * dt;
static Basic::Integer iBar(1);
switch(getScanState()) {
// reset state: move to ref position
case 0: {
setServoMode(POSITION_SERVO);
setFastSlewMode(true);
setScanState(1);
setConAngle(0);
}
break;
case 1: {
// wait state
if (isPositioned() || isAtLimits()) {
setScanState(2); // out of state 1
}
break;// fall into state 2
}
case 2: {
// start scan
setFastSlewMode(false);
setConAngle( Basic::Angle::aepcdDeg(degPerDT + getConAngle()) );
// Trigger the SCAN_START event handler
onStartScanEvent(&iBar);
setScanState(3);
}
break;
case 3: {
// turn revolutions per second into degrees per sec per frame
// now we get this to each time step
double conAngleN1 = getConAngle();
setConAngle( Basic::Angle::aepcdDeg(degPerDT + getConAngle()) );
// end scan - finished with one rotation, check if our reference has moved
bool onceAround = false;
// clockwise rotation
if (getRevPerSec() >= 0.0) {
if (conAngleN1 < 0.0 && getConAngle() >= 0.0) {
onceAround = true;
}
}
// counter-clockwise rotation
else {
if (conAngleN1 < 0.0 && getConAngle() >= 0.0) {
setConAngle(0);
onceAround = true;
}
}
// after one revolution
if (onceAround) {
// Trigger the SCAN_END event handler
onEndScanEvent(&iBar);
setScanState(2);
}
}
break;
}
// azimuth
double newX = getScanRadius() * sin(getConAngle() * Basic::Angle::D2RCC);
// elevation
double newY = getScanRadius() * cos(getConAngle() * Basic::Angle::D2RCC);
setScanPos(newX, newY);
// command our new position
setCmdPos(getRefPosition() + getScanPos());
}
/**
* Open the file given in the include statement and parse it's content.
* If the statement defines a specific map to use, this map is returned in
* file_rtrn. Otherwise, the default map is returned.
*
* @param stmt The include statement, specifying the file name to look for.
* @param file_type Type of file (XkmKeyNamesIdx, etc.)
* @param file_rtrn Returns the key map to be used.
* @param merge_rtrn Always returns stmt->merge.
*
* @return True on success or False otherwise.
*/
Bool
ProcessIncludeFile(IncludeStmt * stmt,
unsigned file_type,
XkbFile ** file_rtrn, unsigned *merge_rtrn)
{
FILE *file;
XkbFile *rtrn, *mapToUse;
char oldFile[1024] = {0};
int oldLine = lineNum;
rtrn = XkbFindFileInCache(stmt->file, file_type, &stmt->path);
if (rtrn == NULL)
{
/* file not in cache, open it, parse it and store it in cache for next
time. */
file = XkbFindFileInPath(stmt->file, file_type, &stmt->path);
if (file == NULL)
{
ERROR("Can't find file \"%s\" for %s include\n", stmt->file,
XkbDirectoryForInclude(file_type));
return False;
}
strcpy(oldFile, scanFile);
oldLine = lineNum;
setScanState(stmt->file, 1);
if (debugFlags & 2)
INFO("About to parse include file %s\n", stmt->file);
/* parse the file */
if ((XKBParseFile(file, &rtrn) == 0) || (rtrn == NULL))
{
setScanState(oldFile, oldLine);
ERROR("Error interpreting include file \"%s\"\n", stmt->file);
fclose(file);
return False;
}
fclose(file);
XkbAddFileToCache(stmt->file, file_type, stmt->path, rtrn);
}
mapToUse = rtrn;
if (stmt->map != NULL)
{
while ((mapToUse) && ((!uStringEqual(mapToUse->name, stmt->map)) ||
(mapToUse->type != file_type)))
{
mapToUse = (XkbFile *) mapToUse->common.next;
}
if (!mapToUse)
{
ERROR("No %s named \"%s\" in the include file \"%s\"\n",
XkbcConfigText(file_type), stmt->map, stmt->file);
return False;
}
}
else if ((rtrn->common.next != NULL) && (warningLevel > 5))
{
WARN("No map in include statement, but \"%s\" contains several\n",
stmt->file);
ACTION("Using first defined map, \"%s\"\n", rtrn->name);
}
setScanState(oldFile, oldLine);
if (mapToUse->type != file_type)
{
ERROR("Include file wrong type (expected %s, got %s)\n",
XkbcConfigText(file_type), XkbcConfigText(mapToUse->type));
ACTION("Include file \"%s\" ignored\n", stmt->file);
return False;
}
/* FIXME: we have to check recursive includes here (or somewhere) */
mapToUse->compiled = True;
*file_rtrn = mapToUse;
*merge_rtrn = stmt->merge;
return True;
}
