public void StartBlindSearchTest()
{
using (Controller controller = new Controller(PORT_NAME, BAUDRATE))
{
controller.Open();
controller.SetAccelerationSteps(TestUnit1, 1000);
controller.Home(TestUnit1);
controller.Move(TestUnit1, 5000, 20);
controller.Home(TestUnit2);
controller.Move(TestUnit2, 5000, 20);
BlindSearchArgs horiArgs = new BlindSearchArgs(TestUnit1, 100, 1, 1, 50);
BlindSearchArgs vertArgs = new BlindSearchArgs(TestUnit2, 1000, 10, 10, 100);
controller.StartBlindSearch(horiArgs, vertArgs, ADCChannels.CH1, out List <Point3D> Results);
controller.Close();
TestContext.WriteLine($"{Results.Count} Points scanned.");
}
}
public bool DoBlindSearch(BlindSearchArgsF HArgsF, BlindSearchArgsF VArgsF, ADCChannels AdcUsed, out List <Point3D> ScanResults)
{
ScanResults = new List <Point3D>();
int XAxisNo = HArgsF.AxisNoBaseZero;
int YAxisNo = VArgsF.AxisNoBaseZero;
if (XAxisNo > MAX_AXIS - MIN_AXIS || XAxisNo < 0 || YAxisNo > MAX_AXIS - MIN_AXIS || YAxisNo < 0)
{
return(false);
}
var HArgs = new BlindSearchArgs()
{
Interval = (ushort)(HArgsF.Interval * AxisArgsList[XAxisNo].GainFactor),
Speed = HArgsF.Speed,
Gap = (ushort)(HArgsF.Gap * AxisArgsList[XAxisNo].GainFactor),
Unit = HArgsF.AxisNoBaseZero + UnitID.U1,
Range = (uint)(HArgsF.Range * AxisArgsList[XAxisNo].GainFactor),
};
var VArgs = new BlindSearchArgs()
{
Interval = (ushort)(VArgsF.Interval * AxisArgsList[YAxisNo].GainFactor),
Speed = VArgsF.Speed,
Gap = (ushort)(VArgsF.Gap * AxisArgsList[YAxisNo].GainFactor),
Unit = VArgsF.AxisNoBaseZero + UnitID.U1,
Range = (uint)(VArgsF.Range * AxisArgsList[YAxisNo].GainFactor),
};
_controller.StartBlindSearch(HArgs, VArgs, AdcUsed, out ScanResults);
return(true);
}
public void StartBlindSearchTest()
{
using (Controller controller = new Controller(PORT_NAME, BAUDRATE))
{
controller.Open();
controller.Home(TestUnit1, 5, 50);
controller.Move(TestUnit1, 10000, 100);
controller.Home(TestUnit2, 5, 50);
controller.Move(TestUnit2, 10000, 100);
controller.SetOsr(ADC_OSR.AD7606_OSR_0);
BlindSearchArgs horiArgs = new BlindSearchArgs(TestUnit1, 400, 100, 100, 20);
BlindSearchArgs vertArgs = new BlindSearchArgs(TestUnit2, 400, 100, 100, 20);
Exception exCaptured = null;
List <Point3D> Results = null;
for (int i = 0; i < 10; i++)
{
exCaptured = null;
try
{
controller.StartBlindSearch(horiArgs, vertArgs, ADCChannels.CH1, out Results);
}
catch (Exception ex)
{
exCaptured = ex;
}
finally
{
TestContext.Write($"Cycle {i}, ");
if (exCaptured == null)
{
TestContext.WriteLine($"Points {Results.Count}, Succeed!");
}
else
{
TestContext.WriteLine($"Failed!");
}
}
}
controller.Close();
//TestContext.WriteLine($"{Results.Count} Points scanned.");
}
}
/// <summary>
/// Perform blind-search alignment.
/// </summary>
/// <param name="HAxis"></param>
/// <param name="VAxis"></param>
/// <param name="Range"></param>
/// <param name="Gap"></param>
/// <param name="Interval"></param>
/// <param name="Speed"></param>
/// <param name="AnalogCapture"></param>
/// <param name="ScanResults"></param>
public void StartBlindSearch(IAxis HAxis, IAxis VAxis, double Range, double Gap, double Interval, int Speed, ADCChannels AnalogCapture, out List <Point3D> ScanResults)
{
ScanResults = null;
if (HAxis.GetType() != typeof(IrixiM12Axis) || VAxis.GetType() != typeof(IrixiM12Axis))
{
throw new Exception("The axis you specified does not support the Blind-Search function.");
}
var hUnit = ((IrixiM12Axis)HAxis).ID;
var vUnit = ((IrixiM12Axis)VAxis).ID;
// limit the speed to the maximum value defined in the config file.
var horiSpeed = Speed * HAxis.MaxSpeed / 100;
if (horiSpeed == 0)
{
horiSpeed = 1;
}
else if (horiSpeed > 100)
{
horiSpeed = 100;
}
// limit the speed to the maximum value defined in the config file.
var vertSpeed = Speed * VAxis.MaxSpeed / 100;
if (vertSpeed == 0)
{
vertSpeed = 1;
}
else if (vertSpeed > 100)
{
vertSpeed = 100;
}
BlindSearchArgs horiArgs = new BlindSearchArgs(
hUnit,
(uint)HAxis.UnitHelper.ConvertDistanceToSteps(Range),
(uint)HAxis.UnitHelper.ConvertDistanceToSteps(Gap),
(ushort)HAxis.UnitHelper.ConvertDistanceToSteps(Interval),
(byte)horiSpeed);
BlindSearchArgs veriArgs = new BlindSearchArgs(
vUnit,
(uint)VAxis.UnitHelper.ConvertDistanceToSteps(Range),
(uint)VAxis.UnitHelper.ConvertDistanceToSteps(Gap),
(ushort)VAxis.UnitHelper.ConvertDistanceToSteps(Interval),
(byte)vertSpeed);
_m12.StartBlindSearch(horiArgs, veriArgs, AnalogCapture, out ScanResults);
}
/// <summary>
/// Perform the blind-search.
/// </summary>
/// <param name="horizontalArgs">The arguments of the horizontal axis.</param>
/// <param name="verticalArgs">The arguments of the vertical axis.</param>
/// <param name="adcUsed">Note: only one ADC channel can be used to sample.</param>
/// <param name="scanResults">Return the intensity-to-position points.</param>
/// <param name="progressReportHandle"></param>
public void StartBlindSearch(BlindSearchArgs horizontalArgs, BlindSearchArgs verticalArgs, ADCChannels adcUsed,
out List <Point3D> scanResults, IProgress <BlindSearchProgressReport> progressReportHandle = null)
{
//! The memory is cleared automatically, you don't have to clear it manually.
// arguments checking.
if (GlobalDefinition.NumberOfSetBits((int)adcUsed) != 1)
{
throw new ArgumentException("only 1 analog capture channel can be activated.", nameof(adcUsed));
}
if (horizontalArgs.Gap < horizontalArgs.Interval)
{
throw new ArgumentException($"the capture interval of {horizontalArgs.Unit} should be less than the gap.");
}
if (verticalArgs.Gap < verticalArgs.Interval)
{
throw new ArgumentException($"the capture interval of {verticalArgs.Unit} should be less than the gap.");
}
scanResults = new List <Point3D>();
ConfigAdcTrigger(adcUsed);
// report progress.
progressReportHandle?.Report(new BlindSearchProgressReport(BlindSearchProgressReport.ProgressStage.SCAN, 0));
lock (_lockController)
{
Send(new CommandBlindSearch(horizontalArgs, verticalArgs));
}
var err = WaitBySystemState(200, 120000, new List <UnitID>()
{
horizontalArgs.Unit, verticalArgs.Unit
});
if (err.Error != Errors.ERR_NONE)
{
throw new SystemErrorException(err);
}
else
{
//var values = new List<double>(new double[100000]);
// read the sampling points from the memory.
var adcValues = ReadMemoryAll(new Progress <MemoryReadProgressReport>(e =>
{
// report transmission progress.
progressReportHandle?.Report(new BlindSearchProgressReport(BlindSearchProgressReport.ProgressStage.TRANS, e.Complete));
})).ToList();
var indexOfAdcValues = 0;
var cycle = 0;
double x = 0, y = 0;
// rebuild the relationship between the position and the intensity.
while (true)
{
var seq = cycle % 4;
BlindSearchArgs activeParam;
int moveDirection;
switch (seq)
{
case 0: // move horizontal axis (x) to positive direction (right)
activeParam = horizontalArgs;
moveDirection = 1;
break;
case 1:
activeParam = verticalArgs;
moveDirection = 1;
break;
case 2:
activeParam = horizontalArgs;
moveDirection = -1;
break;
case 3:
activeParam = verticalArgs;
moveDirection = -1;
break;
default:
throw new InvalidOperationException("unknown sequence in the blind search.");
}
var steps = moveDirection * (activeParam.Gap * (cycle / 2 + 1));
if (Math.Abs(steps) > activeParam.Range)
{
break;
}
// for the horizontal axis.
if (activeParam == horizontalArgs)
{
var originPos = x;
while (true)
{
scanResults.Add(indexOfAdcValues > (adcValues.Count - 1)
? new Point3D(x, y, 0)
: new Point3D(x, y, adcValues[indexOfAdcValues++]));
x += moveDirection * activeParam.Interval;
if (!(Math.Abs(x - originPos) >= Math.Abs(steps)))
{
continue;
}
x = originPos + steps;
break;
}
}
else if (activeParam == verticalArgs)
{
var originPos = y;
while (true)
{
scanResults.Add(indexOfAdcValues > (adcValues.Count - 1)
? new Point3D(x, y, 0)
: new Point3D(x, y, adcValues[indexOfAdcValues++]));
y += moveDirection * activeParam.Interval;
if (!(Math.Abs(y - originPos) >= Math.Abs(steps)))
{
continue;
}
y = originPos + steps;
break;
}
}
cycle++;
}
//// output debug data.
//StringBuilder sb = new StringBuilder();
//foreach(var point in ScanResults)
//{
// sb.Append($"{point.X}\t{point.Y}\t{point.Z}\r\n");
//}
if (scanResults.Count != adcValues.Count)
{
throw new ADCSamplingPointMissException(scanResults.Count, adcValues.Count);
}
}
}
/// <summary>
/// Perform the blind-search.
/// </summary>
/// <param name="HorizontalArgs">The arguments of the horizontal axis.</param>
/// <param name="VerticalArgs">The arguments of the vertical axis.</param>
/// <param name="AdcUsed">Note: only one ADC channel can be used to sample.</param>
/// <param name="ScanResults">Return the intensity-to-position points.</param>
public void StartBlindSearch(BlindSearchArgs HorizontalArgs, BlindSearchArgs VerticalArgs, ADCChannels AdcUsed, out List <Point3D> ScanResults)
{
//! The memory is cleared automatically, you don't have to clear it manually.
// check argments.
if (GlobalDefinition.NumberOfSetBits((int)AdcUsed) != 1)
{
throw new ArgumentException($"specify ONLY one channel of the ADC to capture the analog signal.");
}
if (HorizontalArgs.Gap < HorizontalArgs.Interval)
{
throw new ArgumentException($"the trigger interval of {HorizontalArgs.Unit} shoud be less than the value of the gap.");
}
if (VerticalArgs.Gap < VerticalArgs.Interval)
{
throw new ArgumentException($"the trigger interval of {VerticalArgs.Unit} shoud be less than the value of the gap.");
}
ScanResults = new List <Point3D>();
ConfigADCTrigger(AdcUsed);
lock (lockController)
{
Send(new CommandBlindSearch(HorizontalArgs, VerticalArgs));
}
var err = WaitBySystemState(200, 120000);
if (err.Error != Errors.ERR_NONE)
{
throw new SystemErrorException(err);
}
else
{
//var values = new List<double>(new double[100000]);
// read the sampling points from the memory.
var adcValues = ReadMemoryAll();
int indexOfAdcValues = 0;
int cycle = 0;
double x = 0, y = 0;
BlindSearchArgs activeParam = null;
int moveDirection = 1;
// rebuild the relationship between the position and the intensity.
while (true)
{
var seq = cycle % 4;
switch (seq)
{
case 0: // move horizontal axis (x) to positive direction (right)
activeParam = HorizontalArgs;
moveDirection = 1;
break;
case 1:
activeParam = VerticalArgs;
moveDirection = 1;
break;
case 2:
activeParam = HorizontalArgs;
moveDirection = -1;
break;
case 3:
activeParam = VerticalArgs;
moveDirection = -1;
break;
}
var steps = moveDirection * (activeParam.Gap * (cycle / 2 + 1));
if (Math.Abs(steps) > activeParam.Range)
{
break;
}
// for the horizontal axis.
if (activeParam == HorizontalArgs)
{
var originPos = x;
while (true)
{
if (indexOfAdcValues > (adcValues.Count - 1))
{
ScanResults.Add(new Point3D(x, y, 0));
}
else
{
ScanResults.Add(new Point3D(x, y, adcValues[indexOfAdcValues++]));
}
x += moveDirection * activeParam.Interval;
if (Math.Abs(x - originPos) >= Math.Abs(steps))
{
x = originPos + steps;
break;
}
}
}
else if (activeParam == VerticalArgs)
{
var originPos = y;
while (true)
{
if (indexOfAdcValues > (adcValues.Count - 1))
{
ScanResults.Add(new Point3D(x, y, 0));
}
else
{
ScanResults.Add(new Point3D(x, y, adcValues[indexOfAdcValues++]));
}
y += moveDirection * activeParam.Interval;
if (Math.Abs(y - originPos) >= Math.Abs(steps))
{
y = originPos + steps;
break;
}
}
}
cycle++;
}
// output debug data.
StringBuilder sb = new StringBuilder();
foreach (var point in ScanResults)
{
sb.Append($"{point.X}\t{point.Y}\t{point.Z}\r\n");
}
if (ScanResults.Count > adcValues.Count)
{
throw new ADCSamplingPointMissException(ScanResults.Count, adcValues.Count);
}
}
}