void DoSlewingMenu( int *menu )
// Shows slew progress in X and Y. Called to do the slew from within
// the tracking routine, and returns to tracking when done.
{
long int X_Target, Y_Target;
double HA, Alt, Az;
int x=25, y=TRACKINGDISPLAY, w=y+5;
clrscr();
FrameScreen();
*menu = TrackingMenu;
gotoxy(37,y); printf("Slewing");
DisplayCoordinates(w,1,1,0);
gotoxy(x,w+0); printf("(Target RA: %4d:%02d:%02d )", _HOURS(RA_Target),
_MINUTES(RA_Target), _SECONDS(RA_Target));
gotoxy(x,w+1); printf("(Target Dec:%+4d:%02d:%02d )",
_SIGN(DecTarget)*_HOURS(DecTarget),
_MINUTES(DecTarget), _SECONDS(DecTarget));
gotoxy(18,w+6); printf("Hit q to stop slewing and return to tracking.");
PrevStatus = Status;
Status = SLEWING;
do
{
Slew(w+2);
GetXY( RA_Target, DecTarget, &X_Target, &Y_Target );
dX = X_Target - gX;
dY = Y_Target - gY;
} while ( (pow(dX,2)+pow(dY,2)) > pow(CLOSE_ENOUGH,2) );
PrevStatus = Status;
Status = TRACKING;
}
void Slew( int y_display )
// Using the global variables dX and dY as the distances to go in X and Y,
// this routine sends out pulses to the motors to move the telescope the
// required distance. dX and dY are in "steps" of the motors. This routine
// sends a stream of pulses to the motors, ramping them up to the cruising
// speed, and ramping them down to zero when finished. It also checks if the
// flag indicating the user wants to abort the slew has been set, and if so
// ramps down the motors to zero immediately. Although it slows down the
// process a little, this routine also continually updates the coordinates
// on the screen so the user can see how far along the slew is.
{
long int flag=1, outword;
long int L2=LEVELS*2, xskip[LEVELS*2+1], yskip[LEVELS*2+1];
long int x_skip, y_skip;
long int xsend[LEVELS*2+1], ysend[LEVELS*2+1], i, j, total, i2;
long int x_cruise_index, y_cruise_index, X, Y, X2, Y2, common;
long int xtemp=0L, ytemp=0L;
int quit=0, Xout, Yout;
int xloop=5, yloop=5;
x_sign = _SIGN(dX);
y_sign = _SIGN(dY);
cumulative[0] = MinSteps;
for (i=0; i<LEVELS; i++)
{
common = MinSteps + i*(MaxSteps-MinSteps)/LEVELS; // ramp up from
xsend[i] = common; xsend[L2-i] = common; // MinSteps and
ysend[i] = common; ysend[L2-i] = common; // MaxDelay...
common = MaxDelay - i*(MaxDelay-MinDelay)/LEVELS;
xskip[i] = common; xskip[L2-i] = common;
yskip[i] = common; yskip[L2-i] = common; // to MaxSteps
if (i) cumulative[i] = cumulative[i-1] + xsend[i]; // and MinDelay.
}
xsend[LEVELS] = 0;
ysend[LEVELS] = 0;
cumulative[LEVELS] = cumulative[LEVELS-1];
xskip[LEVELS] = MinDelay;
yskip[LEVELS] = MinDelay;
// for (i=0;i<=L2;i++) printf(" xskip[%ld]=%ld",i,xskip[i]);
total=0;
i=0;
X2 = labs(dX)/2;
while ((total+xsend[i])<X2 && i<LEVELS)
total += xsend[i++];
x_cruise_index = i;
// gotoxy(2,2); printf("x_cruise_index = %ld", x_cruise_index);
i2 = 2*i;
for (i=x_cruise_index+1; i<=i2; i++)
{
xskip[i] = xskip[i2-i];
xsend[i] = xsend[i2-i];
total += xsend[i];
}
if (total < labs(dX)) xsend[x_cruise_index] = labs(dX) - total;
else xsend[x_cruise_index] = 0;
// gotoxy(2,3); printf("xsend[%ld] = %ld, xskip[%ld] = %ld", x_cruise_index,
// xsend[x_cruise_index], x_cruise_index, xskip[x_cruise_index] );
total=0;
i=0;
Y2 = labs(dY)/2;
while ((total+ysend[i])<Y2 && i<LEVELS)
total += ysend[i++];
y_cruise_index = i;
i2 = 2*i;
for (i=y_cruise_index+1; i<=i2; i++)
{
yskip[i] = yskip[i2-i];
ysend[i] = ysend[i2-i];
total += ysend[i];
}
if (total < labs(dY)) ysend[y_cruise_index] = labs(dY) - total;
else ysend[y_cruise_index] = 0;
i=0; j=0;
x_skip = xskip[0];
y_skip = yskip[0];
gotoxy(37,y_display); printf("%+9ld ", gX);
if (!dX) printf(" ");
gotoxy(37,y_display+1); printf("%+9ld ", gY);
if (!dY) printf(" ");
while (flag)
{
Xout=0; Yout=0;
if (dX)
{
if ((--x_skip) == 0)
{
X = x_sign;
if (X<0) Xout = XMINUS;
else Xout = X*XPLUS;
dX -= X;
// xtemp++;
if ((--xsend[i]) == 0)
++i;
x_skip = xskip[i];
}
else X = 0;
}
else X = 0;
if (dY)
{
if ((--y_skip) == 0)
{
Y = y_sign;
if (Y<0) Yout = YMINUS;
else Yout = Y*YPLUS;
dY -= Y;
// ytemp++;
if ((--ysend[j]) == 0)
++j;
y_skip = yskip[j];
}
else Y = 0;
}
else Y = 0;
outword = NOPULSE - Xout - Yout;
outp( PULSEPORT, outword );
gX += X;
gY += Y;
if (Xout || Yout)
{
if (Xout)
{
if (++xloop>2)
{
xloop=0;
gotoxy(38,y_display);
printf("%+9ld ", gX);
// printf(" i=%3ld, xsend[i]=%ld, xskip[i]=%ld ", i, xsend[i], xskip[i]);
if (!dX) printf(" ");
}
}
if (Yout)
{
if (++yloop>2)
{
yloop=0;
gotoxy(38,y_display+1);
printf("%+9ld ", gY);
if (!dY) printf(" ");
}
}
}
if (!(dX || dY)) flag=0; // dX=0 and dY=0 => done slewing
if (abort_slew_flag)
{
quit = 1;
if (i<=x_cruise_index)
{
if (i==x_cruise_index)
dX = x_sign * cumulative[i++];
else
{ dX = x_sign * cumulative[i]; i = 2*x_cruise_index - i; }
}
if (j<=y_cruise_index)
{
if (j==y_cruise_index)
dY = y_sign * cumulative[j++];
else
{ dY = y_sign * cumulative[j]; j = 2*y_cruise_index - j; }
}
abort_slew_flag = 0;
gotoxy(46,y_display);
if (dX) printf(" (ramping down)");
else printf(" ");
gotoxy(46,y_display+1);
if (dY) printf(" (ramping down)");
else printf(" ");
}
outp( PULSEPORT, NOPULSE );
} // while (flag)
if (quit) // if the user requested the slew be aborted, we'll take up
{ // tracking on wherever we landed out of the slew.
GetRADec( gX, gY, &RA_Target, &DecTarget );
}
}
/*
* We try and clip a curve so that it can be either Case A, or Case C.
* Sometimes one of the curves is still case C though, but it is much
* small than the original, and further clipping will either show that
* it is on the curve or provide all Case B or Case A curves.
* We try and pick the best axis to clip against, but this may not always
* work. One extra step that was included, that is not in the paper for
* curves but is for surfaces, is the fact that sometimes the curve is
* not clipped enough, if the maximum clip is less than .2 than we sub
* divide the curve in three equal parts, at .3 and .6,
* Subdivision is done using the Oslo Algorithm, rather than the other
* methods which were prossed.
*/
void
rt_clip_cnurb(struct bu_list *plist, struct edge_g_cnurb *crv, fastf_t u, fastf_t v)
{
fastf_t ds1, dt1;
struct _interior_line s_line, t_line;
int axis, i;
fastf_t umin, umax;
int coords;
struct edge_g_cnurb * c1, *c2, *tmp;
fastf_t m1, m2;
int zero_changed;
fastf_t *ptr;
fastf_t dist[10];
coords = RT_NURB_EXTRACT_COORDS( crv->pt_type);
s_line.axis = 0; s_line.o_dist = v;
t_line.axis = 1; t_line.o_dist = u;
ds1 = 0.0;
dt1 = 0.0;
ptr = crv->ctl_points;
/* determine what axis to clip against */
for ( i = 0; i < crv->c_size; i++, ptr += coords)
{
ds1 +=
fabs( rt_trim_line_pt_dist( &s_line, ptr, crv->pt_type) );
dt1 +=
fabs( rt_trim_line_pt_dist( &t_line, ptr, crv->pt_type) );
}
if ( ds1 >= dt1 ) axis = 0; else axis = 1;
ptr = crv->ctl_points;
for ( i = 0; i < crv->c_size; i++)
{
if ( axis == 1)
dist[i] = rt_trim_line_pt_dist(&t_line, ptr, crv->pt_type);
else
dist[i] = rt_trim_line_pt_dist(&s_line, ptr, crv->pt_type);
ptr += coords;
}
/* Find the convex hull of the distances and determine the
* minimum and maximum distance to clip against. See the
* paper for details about this step
*/
umin = 10e40;
umax = -10e40;
zero_changed = 0;
for ( i = 0; i < crv->c_size; i++)
{
fastf_t d1, d2;
fastf_t x0, x1, zero;
if ( i == (crv->c_size -1 ) )
{
d1 = dist[i];
d2 = dist[0];
x0 = (fastf_t) i / (fastf_t) (crv->c_size - 1);
x1 = 0.0;
} else
{
d1 = dist[i];
d2 = dist[i+1];
x0 = (fastf_t) i / (fastf_t) (crv->c_size - 1 );
x1 = (i+1.0) / (crv->c_size - 1);
}
if ( _SIGN(d1) != _SIGN(d2) )
{
zero = x0 - d1 * (x1 - x0)/ (d2-d1);
if ( zero <= umin)
umin = zero * .99;
if ( zero >= umax)
umax = zero * .99 + .01;
zero_changed = 1;
}
}
if ( !zero_changed)
return;
/* Clip is not large enough, split in thiords and try again */
if ( umax - umin < .2)
{
umin = .3; umax = .6;
}
/* Translate the 0.0-->1.09 clipping against the real knots */
m1 = (crv->k.knots[0] * (1 - umin)) +
crv->k.knots[crv->k.k_size -1] * umin;
m2 = (crv->k.knots[0] * (1-umax)) +
crv->k.knots[crv->k.k_size -1] * umax;
/* subdivide the curve */
c1 = (struct edge_g_cnurb *) rt_nurb_c_xsplit(crv, m1);
c2 = rt_nurb_c_xsplit((struct edge_g_cnurb *) c1->l.forw, m2);
tmp = (struct edge_g_cnurb *) c1->l.forw;
BU_LIST_DEQUEUE( &tmp->l);
rt_nurb_free_cnurb( tmp );
BU_LIST_INIT( plist );
BU_LIST_INSERT( &c2->l, plist);
BU_LIST_APPEND( plist, &c1->l);
}
