private void RunScan()
{
if (Settings.Tilt)
{
Tilt.CompensateTilt(); //check status after movement
//todo: log the new position
}
int i = 0;
enuScannerErrors res = enuScannerErrors.Ready;
while ((!res.HasFlag(enuScannerErrors.Finished)) && (!abortExperiment))
{
// Here we run all child experiments including Autoapproch if contained in the queue at the first (and may be single) point of the scan
Task childRunner = RunChildExperiments();
// Wait for completion of ChildExperiments
childRunner.Wait();
if (status != enExperimentStatus.Completed)
{
// Child Run did not complete regularly, do Error handling
NotifyExperimentEndedNow(new ExperimentEndedEventArgs(enExperimentStatus.Error, null));
return;
}
// Notify about Data update
NotifyExperimentDataUpdatedNow(new ExperimentDataEventArgs(scanData, i > 0));
// Go to Next Point (if there is one)
//the scanner takes care of pre- and post-movements
//but also tilt correction if set
res = Scanner.NextPosition();
i++;
}
//if (!abortExperiment)
Scanner.BackToStart();
// Signal Experiment end
if (abortExperiment)
{
// Experiment was aborted
status = enExperimentStatus.Aborted;
NotifyExperimentEndedNow(new ExperimentEndedEventArgs(enExperimentStatus.Aborted, null));
}
else if (res.HasFlag(enuScannerErrors.Finished))
{
// Experiment ended regularly
status = enExperimentStatus.Completed;
NotifyExperimentEndedNow(new ExperimentEndedEventArgs(enExperimentStatus.Completed, scanData));
}
else
{
// Something else happend => error
status = enExperimentStatus.Error;
NotifyExperimentEndedNow(new ExperimentEndedEventArgs(enExperimentStatus.Error, null));
}
}
public enuScannerErrors NextPosition()
{
if (!mStatus.HasFlag(enuScannerErrors.Initialized))
{
//todo log error
return(mStatus);
}
//premovement hook: usually move away from surface to avoid damage of the tip
if (mPositioner.SetRelativePosition(mPreMove) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); //todo either validate the position, or use automatic parameters validation by positioner
}
Position oldpos = new Position(); //this will be the current absolute position
if (mPositioner.GetAbsolutePosition(ref oldpos) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // todo: log the error?
}
Position Dest = CalculateNextAbsolutePosition(oldpos); // here we get a new absolute position to go as next
if (Dest == null)
{//no next position, scan finished
mStatus |= enuScannerErrors.Finished;
return(mStatus);
}
if (mTilt != null)
{//consider the tilt corrected Z-height if tilt is set
Dest.Z = mTilt.CalculateZ(Dest);
}
//and move to the next position
//set speeds first, otherwise motors fail-safes will be used
if (mPositioner.SetSpeeds(mSpeeds) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // todo: log the error?
}
// move to dest position
if (mPositioner.SetAbsolutePosition(Dest) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // todo: log the error?
}
log.AddStatusUpdate(0, Dest);
//postmovement hook: usually move down to surface to reduce travel distance for FBC.
//The hook is less, then the premovement. Not really meaningful while using tilt correction
if (mPositioner.SetRelativePosition(mPostMove) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error);
}
return(mStatus);
}
public enuScannerErrors Initialize()
{
mStatus = 0;
//todo: check parameters, reflect correctness in the status flag
//store current absolute position as starting position and calculate edge positions
if (mPositioner.GetAbsolutePosition(ref mStartPosition) != enuPositionerStatus.Error)
{
return(enuScannerErrors.Error); // todo: log the error?
}
Position mPos = new Position();
mPos = mStartPosition.Copy;
mPos.X += mRadius;
mPos.Y += mRadius;
if (mPositioner.ValidateAbsolutePosition(ref mPos) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // upper right corner
}
mPos = mStartPosition.Copy;
mPos.X -= mRadius;
mPos.Y -= mRadius;
if (mPositioner.ValidateAbsolutePosition(ref mPos) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // lower left corner
}
mPos = mStartPosition.Copy;
mPos.X += mRadius;
mPos.Y -= mRadius;
if (mPositioner.ValidateAbsolutePosition(ref mPos) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // lower right corner
}
mPos = mStartPosition.Copy;
mPos.X -= mRadius;
mPos.Y += mRadius;
if (mPositioner.ValidateAbsolutePosition(ref mPos) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // upper left corner
}
if (mPositioner.ValidateSpeeds(ref mSpeeds) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // todo: log the error?
}
mStatus = enuScannerErrors.Initialized;
mStatus |= enuScannerErrors.Ready;
return(mStatus);
}
public enuScannerErrors BackToStart()
{
if (!mStatus.HasFlag(enuScannerErrors.Initialized))
{
//todo log error
return(mStatus);
}
//just back to start position
Position Dest = mStartPosition.Copy;
//and move to the next position
if (mPositioner.SetAbsolutePosition(Dest) != enuPositionerStatus.Ready)
{
return(enuScannerErrors.Error); // todo: log the error?
}
log.AddStatusUpdate(0, Dest);
//before the next scan a call to Prepare() is enforced by this. This ensures that the start
//position is set properly for each scan.
mStatus = enuScannerErrors.NotInitialized;
return(mStatus);
}
public enuScannerErrors Reset()
{
mStatus = 0;
return(mStatus);
}
