/// <summary>
/// Applies a calibration to the lens. This scales the focal power based off the distance sensor reading according to a piecewise linear interpolant
/// </summary>
/// <param name="data">2D array of calibration data. Column 1 contains input voltage, column 2 contains output voltage</param>
/// <param name="stage">Parent stage of the lens to indicate which lens to calibrate</param>
/// <returns>True if calibration was valid</returns>
public bool ApplyCalibration(double[,] data, RCCMStage stage)
{
int rows = data.GetLength(0);
int cols = data.GetLength(1);
// Data must be formatted into rows of input voltage - output voltage pairs
if (cols != 2)
{
return(false);
}
// Get controller based on specified stage
IController controller;
if (stage == RCCMStage.RCCM1)
{
controller = this.NFOV1Controller;
this.NFOV1Calibration = data;
}
else
{
controller = this.NFOV2Controller;
this.NFOV2Calibration = data;
}
return(true);
}
/// <summary>
/// Get position of WFOV camera in specified coordinate system
/// </summary>
/// <param name="stage">Enum value corresponding to desired camera</param>
/// <param name="sys">Enum value corresponding to desired coordinate system</param>
/// <returns>PointF with X and Y coordinates of camera</returns>
public PointF GetWFOVLocation(RCCMStage stage, CoordinateSystem sys)
{
PointF coarselocation = new PointF((float)this.motors["coarse X"].GetPos(),
(float)this.motors["coarse Y"].GetPos());
double xOffset;
double yOffset;
if (stage == RCCMStage.RCCM1)
{
xOffset = this.WFOV1X + this.motors["fine 1 X"].GetPos();
yOffset = this.WFOV1Y + this.motors["fine 1 Y"].GetPos();
}
else
{
xOffset = this.WFOV2X + this.motors["fine 2 X"].GetPos();
yOffset = this.WFOV2Y + this.motors["fine 2 Y"].GetPos();
}
double xOffRotated = this.fineStageRotation[0, 0] * xOffset + this.fineStageRotation[0, 1] * yOffset;
double yOffRotated = this.fineStageRotation[1, 0] * xOffset + this.fineStageRotation[1, 1] * yOffset;
PointF globalPt = PointF.Add(coarselocation, new SizeF((float)xOffRotated, (float)yOffRotated));
switch (sys)
{
case CoordinateSystem.Local:
return(this.GlobalVectorToPanelVector(this.motors["coarse X"].GetPos() + xOffRotated,
this.motors["coarse Y"].GetPos() + yOffRotated));
default:
return(globalPt);
}
}
/// <summary>
/// Unpause autofocus loop for specified stage
/// </summary>
/// <param name="stage">Enum value corresponding to desired stage</param>
public void ResumeFocusing(RCCMStage stage)
{
if (stage == RCCMStage.RCCM1)
{
this.readThread1Paused = false;
}
else
{
this.readThread2Paused = false;
}
}
/// <summary>
/// Pause autofocus loop for specified stage
/// </summary>
/// <param name="stage">Enum value corresponding to desired stage</param>
public void PauseFocusing(RCCMStage stage)
{
if (stage == RCCMStage.RCCM1)
{
this.readThread1Paused = true;
}
else
{
this.readThread2Paused = true;
}
}
/// <summary>
/// Sends command to specified controller to set a constant focal power value
/// </summary>
/// <param name="power">Focal power to use, in diopters</param>
/// <param name="stage">Stage indicating which controller to send the command to</param>
/// <returns>True if command succeded</returns>
public bool SetFocalPower(double power, RCCMStage stage)
{
IController controller = stage == RCCMStage.RCCM1 ? this.NFOV1Controller : this.NFOV2Controller;
try
{
controller.SendCommand(string.Format("{0},{1}", NFOVLensController.SET_FOCALPOWER_CMD, power));
}
catch
{
return(false);
}
return(true);
}
/// <summary>
/// Initialize NFOV display
/// </summary>
/// <param name="rccm">RCCMSystem object, needed for getting location and zoom status</param>
/// <param name="camera">NFOV camera to display</param>
/// <param name="cracks">List of cracks to display</param>
public NFOVViewForm(RCCMSystem rccm, NFOV camera, ObservableCollection <MeasurementSequence> cracks)
{
this.rccm = rccm;
this.camera = camera;
this.stage = camera == rccm.NFOV1 ? RCCMStage.RCCM1 : RCCMStage.RCCM2;
this.cameraName = camera == rccm.NFOV1 ? "nfov 1" : "nfov 2";
this.cracks = cracks;
this.cracks.CollectionChanged += cracksChangedHandler;
this.Drawing = false;
this.ActiveIndex = -1;
this.ActivePoint = -1;
this.bwRepaint = new BackgroundWorker();
InitializeComponent();
this.editFocus.Value = (decimal)(camera == rccm.NFOV1 ? rccm.LensController.FocusOffset1 : rccm.LensController.FocusOffset2);
this.updateMeasurementControls();
}
/// <summary>
/// Get current height of specified NFOV
/// </summary>
/// <param name="stage">Enum value of desired stage</param>
/// <returns>Current focal height in user units</returns>
public double GetHeight(RCCMStage stage)
{
// Get controller based on specified stage
IController controller = stage == RCCMStage.RCCM1 ? this.NFOV1Controller : this.NFOV2Controller;
// Send get input command and pull reading from resulting string
try
{
double input = this.GetReading(stage);
return(stage == RCCMStage.RCCM1 ? this.ToHeight1(input) : this.ToHeight2(input));
}
catch
{
return(-1);
}
}
/// <summary>
/// Get current input voltage to distanc sensor of specified NFOV
/// </summary>
/// <param name="stage">Enum value of desired lens</param>
/// <returns>Current input voltaget</returns>
public double GetReading(RCCMStage stage)
{
// Get controller based on specified stage
IController controller = stage == RCCMStage.RCCM1 ? this.NFOV1Controller : this.NFOV2Controller;
// Send get input command and pull reading from resulting string
try
{
string response = controller.SendCommand(NFOVLensController.GET_VOLTAGE_CMD);
Match m = NFOVLensController.PARSE_GET.Match(response);
// Convert reading to distance
return((0.51 * Double.Parse(m.Value.Substring(2)) - 59.9) / 100.0);
}
catch
{
return(-1);
}
}
/// <summary>
/// Create form and initialize given camera
/// </summary>
/// <param name="rccm">Reference to the RCCM object</param>
/// <param name="camera">Camera to be displayed</param>
/// <param name="cracks">Reference to the list of all measurement sequences</param>
public WFOVViewForm(RCCMSystem rccm, WFOV camera, ObservableCollection <MeasurementSequence> cracks)
{
this.rccm = rccm;
this.camera = camera;
this.stage = this.camera == rccm.WFOV1 ? RCCMStage.RCCM1 : RCCMStage.RCCM2;
this.cameraName = this.camera == rccm.WFOV1 ? "wfov 1" : "wfov 2";
this.cracks = cracks;
this.cracks.CollectionChanged += cracksChangedHandler;
this.Drawing = false;
this.ActiveIndex = -1;
this.ActivePoint = -1;
InitializeComponent();
this.updateMeasurementControls();
this.panelWFOVOverlay = new WFOVPanel(this.wfovContainer);
this.Controls.Add(this.panelWFOVOverlay);
this.panelWFOVOverlay.BringToFront();
this.wfovRepaint = new System.Windows.Forms.Timer();
}
/// <summary>
/// Get current focal power of specified NFOV lens
/// </summary>
/// <param name="stage">Enum value of desired lens</param>
/// <returns>Current focal power output</returns>
public double GetFocalPower(RCCMStage stage)
{
// Get controller based on specified stage
IController controller = stage == RCCMStage.RCCM1 ? this.NFOV1Controller : this.NFOV2Controller;
// Send get input command and pull reading from resulting string
string response;
try
{
response = controller.SendCommand(NFOVLensController.GET_STATUS_CMD);
}
catch
{
return(-10000);
}
Match m = NFOVLensController.PARSE_GETOUTPUT.Match(response.Substring(0, 1024));
// Convert reading to distance
return(Double.Parse(m.Value.Substring(3)));
}
/// <summary>
/// Create a calibration UI form for the specified stage. Saves changes to specified settings object
/// </summary>
/// <param name="controller">NFOV lens controller</param>
/// <param name="stage">Parent stage of NFOV camera to be adjusted</param>
public LensCalibrationForm(RCCMSystem rccm, RCCMStage stage)
{
InitializeComponent();
this.rccm = rccm;
this.controller = this.rccm.LensController;
this.stage = stage;
this.oldCalibration = stage == RCCMStage.RCCM1 ? this.controller.NFOV1Calibration : this.controller.NFOV2Calibration;
this.calibration = new SortedList <double, CalibrationPoint>();
if (this.oldCalibration != null)
{
for (int i = 0; i < this.oldCalibration.GetLength(0); i++)
{
this.calibration.Add(this.oldCalibration[i, 0],
new CalibrationPoint(this.oldCalibration[i, 0], this.oldCalibration[i, 1]));
}
}
// Set text box values
Motor zMotor = this.stage == RCCMStage.RCCM1 ? this.rccm.motors["fine 1 Z"] : this.rccm.motors["fine 2 Z"];
this.heightEdit.Value = (decimal)zMotor.GetPos();
this.focalPowerEdit.Value = (decimal)this.controller.GetFocalPower(this.stage);
if (this.stage == RCCMStage.RCCM1)
{
this.editFocusOffset.Value = (decimal)this.controller.FocusOffset1;
}
else
{
this.editFocusOffset.Value = (decimal)this.controller.FocusOffset2;
}
this.updateListView();
this.controller.PauseFocusing(this.stage);
}
/// <summary>
/// Create a controlled z actuator
/// </summary>
/// <param name="controller">RCCM Trio controller object</param>
/// <param name="axisNum">Number of port where axis is connected to Trio controller</param>
/// <param name="rccm">The RCCM object</param>
/// <param name="stage">Enum value of the set of fine actuators containing this actuator</param>
public TrioStepperZMotor(TrioController controller, short axisNum, RCCMSystem rccm, RCCMStage stage)
{
this.controller = controller;
this.axisNum = axisNum;
this.Jogging = false;
// Create height function reference from lens controller height property
if (stage == RCCMStage.RCCM1)
{
this.height = delegate() { return(rccm.LensController.Height1); };
}
else
{
this.height = delegate() { return(rccm.LensController.Height2); };
}
// Create function reference that computes height of panel at current location
this.minPosition = delegate()
{
PointF pos = rccm.GetNFOVLocation(stage, CoordinateSystem.Local);
return(rccm.GetPanelDistance(pos.X, pos.Y));
};
this.commandHeight = this.height();
// Start background thread
this.bw = new BackgroundWorker();
this.bw.DoWork += new DoWorkEventHandler(this.heightAdjustLoop);
this.adjustThreadExited = new AutoResetEvent(false);
this.adjust = true;
this.adjustThreadPaused = false;
this.bw.RunWorkerAsync();
}
