public void HandleCommand(ZACommons commons, EventDriver eventDriver,
string argument, Action <ZACommons, Vector3D> targetAction)
{
argument = argument.Trim().ToLower();
switch (argument)
{
case "compute":
var firstReference = GetReference(commons, STATIC_REFERENCE_GROUP);
var rotorReference = GetReference(commons, ROTOR_REFERENCE_GROUP);
var first = new Rangefinder.LineSample(firstReference);
var second = new Rangefinder.LineSample(rotorReference);
Vector3D closestFirst, closestSecond;
if (Rangefinder.Compute(first, second, out closestFirst, out closestSecond))
{
// Take midpoint of closestFirst-closestSecond segment
var target = (closestFirst + closestSecond) / 2.0;
targetAction(commons, target);
}
break;
default:
rotorStepper.HandleCommand(commons, eventDriver, argument);
break;
}
}
public void HandleCommand(ZACommons commons, EventDriver eventDriver,
string argument, Action<ZACommons, Vector3D> targetAction)
{
argument = argument.Trim().ToLower();
switch (argument)
{
case "compute":
var firstReference = GetReference(commons, STATIC_REFERENCE_GROUP);
var rotorReference = GetReference(commons, ROTOR_REFERENCE_GROUP);
var first = new Rangefinder.LineSample(firstReference);
var second = new Rangefinder.LineSample(rotorReference);
Vector3D closestFirst, closestSecond;
if (Rangefinder.Compute(first, second, out closestFirst, out closestSecond))
{
// Take midpoint of closestFirst-closestSecond segment
var target = (closestFirst + closestSecond) / 2.0;
targetAction(commons, target);
}
break;
default:
rotorStepper.HandleCommand(commons, eventDriver, argument);
break;
}
}
public void HandleCommand(ZACommons commons, string argument)
{
argument = argument.Trim().ToLower();
var parts = argument.Split(new char[] { ' ' }, 2);
if (parts.Length < 2 || parts[0] != "rfinder") return;
var command = parts[1];
switch(command)
{
case "origin":
{
var reference = GetReference(commons);
if (reference == null) return;
Origin = new Rangefinder.LineSample(reference);
Last = null;
Result.Clear();
break;
}
case "snapshot":
{
var reference = GetReference(commons);
if (reference == null) return;
var second = new Rangefinder.LineSample(reference);
Last = null;
Result.Clear();
Vector3D closestFirst, closestSecond;
if (Rangefinder.Compute(Origin, second, out closestFirst,
out closestSecond))
{
var target = (closestFirst + closestSecond) / 2.0;
Last = target;
Result.Append(string.Format("Target: {0:F2}, {1:F2}, {2:F2}",
target.GetDim(0),
target.GetDim(1),
target.GetDim(2)));
Result.Append('\n');
var targetVector = target - reference.GetPosition();
Result.Append(string.Format("Distance: {0} m", (ulong)(targetVector.Length() + 0.5)));
TargetAction(commons, target);
}
else
{
Result.Append("Parallel lines???");
}
break;
}
case "restore":
if (Last != null)
{
TargetAction(commons, (Vector3D)Last);
}
break;
}
}
public void HandleCommand(ZACommons commons, string argument)
{
argument = argument.Trim().ToLower();
var parts = argument.Split(new char[] { ' ' }, 2);
if (parts.Length < 2 || parts[0] != "rfinder")
{
return;
}
var command = parts[1];
switch (command)
{
case "origin":
{
var reference = GetReference(commons);
if (reference == null)
{
return;
}
Origin = new Rangefinder.LineSample(reference);
Last = null;
Result.Clear();
break;
}
case "snapshot":
{
var reference = GetReference(commons);
if (reference == null)
{
return;
}
var second = new Rangefinder.LineSample(reference);
Last = null;
Result.Clear();
Vector3D closestFirst, closestSecond;
if (Rangefinder.Compute(Origin, second, out closestFirst,
out closestSecond))
{
var target = (closestFirst + closestSecond) / 2.0;
Last = target;
Result.Append(string.Format("Target: {0:F2}, {1:F2}, {2:F2}",
target.GetDim(0),
target.GetDim(1),
target.GetDim(2)));
Result.Append('\n');
var targetVector = target - reference.GetPosition();
Result.Append(string.Format("Distance: {0} m", (ulong)(targetVector.Length() + 0.5)));
TargetAction(commons, target);
}
else
{
Result.Append("Parallel lines???");
}
break;
}
case "restore":
if (Last != null)
{
TargetAction(commons, (Vector3D)Last);
}
break;
}
}
