void doModeScans()
{
int iMode = _wicoControl.IMode;
int iState = _wicoControl.IState;
// StatusLog("clear", textPanelReport);
// StatusLog(moduleName + ":SCAN!", textPanelReport);
_program.Echo("Scan:iState=" + iState.ToString());
switch (iState)
{
case 0:
{ // init camera scan for asteroids/objects
_program.ResetMotion();
scanElapsedMs = 0;
// initialize cameras
scanfrontScanner = new QuadrantCameraScanner(_program, _cameras.GetForwardCameras(), 5000);
scanbackScanner = new QuadrantCameraScanner(_program, _cameras.GetBackwardCameras(), 5000);
scanleftScanner = new QuadrantCameraScanner(_program, _cameras.GetLeftCameras(), 5000);
scanrightScanner = new QuadrantCameraScanner(_program, _cameras.GetRightCameras(), 5000);
scantopScanner = new QuadrantCameraScanner(_program, _cameras.GetUpCameras(), 5000);
scanbottomScanner = new QuadrantCameraScanner(_program, _cameras.GetDownwardCameras(), 5000);
_wicoControl.SetState(410); // iState = 410;
_wicoControl.WantFast();
break;
}
case 410:
{
// StatusLog("Long Range Scan", textPanelReport);
if (scanfrontScanner == null) // in case we reload/compile in this state..
{
_wicoControl.WantFast();
iState = 0;
return;
}
_wicoControl.WantMedium();
scanElapsedMs += _program.Runtime.TimeSinceLastRun.TotalMilliseconds;
// use for timeout...
// do camera scans
if (scanfrontScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanfrontScanner.myLDEI);
}
if (scanbackScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanbackScanner.myLDEI);
}
if (scanleftScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanleftScanner.myLDEI);
}
if (scanrightScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanrightScanner.myLDEI);
}
if (scantopScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scantopScanner.myLDEI);
}
if (scanbottomScanner.DoScans())
{
_asteroids.AsteroidProcessLDEI(scanbottomScanner.myLDEI);
}
// TODO: if missing cameras on a side(s), rotate ship to point cameras at that side
// TODO: Flags for other options (TBD)
// TODO: scan range
// TODO: stop on first hit (by type?)
// TODO: all sides or specific sides?
string s = "";
s += "Front: ";
if (scanfrontScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanfrontScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanfrontScanner.myLDEI.Count + " objects";
s += "\n";
s += "Back: ";
if (scanbackScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbackScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanbackScanner.myLDEI.Count + " objects";
s += "\n";
s += "Left: ";
if (scanleftScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanleftScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanleftScanner.myLDEI.Count + " objects";
s += "\n";
s += "Right: ";
if (scanrightScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanrightScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanrightScanner.myLDEI.Count + " objects";
s += "\n";
s += "Top: ";
if (scantopScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scantopScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scantopScanner.myLDEI.Count + " objects";
s += "\n";
s += "Bottom: ";
if (scanbottomScanner.DoneScanning())
{
s += "DONE!";
}
else
{
s += scanbottomScanner.SCAN_DISTANCE.ToString("0") + " meters";
}
s += " " + scanbottomScanner.myLDEI.Count + " objects";
s += "\n";
if (_asteroids.AsteroidFindNearest() < 0)
{
s += "No Known Asteroid";
}
else
{
s += "FOUND at least one asteroid!";
}
// StatusLog(s, textPanelReport);
_program.Echo(s);
if (
scanfrontScanner.DoneScanning() &&
scanbackScanner.DoneScanning() &&
scanleftScanner.DoneScanning() &&
scanrightScanner.DoneScanning() &&
scantopScanner.DoneScanning() &&
scanbottomScanner.DoneScanning()
)
{
_wicoControl.SetMode(ScansDoneMode, ScansDoneState);
// reset to default for possible next run
ScansDoneMode = WicoControl.MODE_NAVNEXTTARGET;
ScansDoneState = 0;
}
break;
}
}
}
