public void Track()
{
if (this.State == RotorState.Idle)
{
this.State = RotorState.TrackSunPrevDir;
}
}
/// <summary>
/// Adjusts the position of the rotor (or one of the auxillary rotot)
/// </summary>
/// <param name="offset">offset in degree</param>
/// <param name="auxId">if not 0, adjusts the position of an auxillary rotor instead</param>
public void Adjust(float offset, int auxId = 0)
{
if (auxId == 0)
{
this.adjustTarget = this.mainRotor.Angle + MathHelper.ToRadians(offset);
this.State = RotorState.Adjust;
}
else if (this.rotors != null)
{
foreach (SolarRotor rotor in this.rotors)
{
if (this.State != RotorState.Adjust)
{
this.State = RotorState.AdjustAux;
}
if (rotor.id.AuxNumber == auxId)
{
rotor.Adjust(offset);
}
else
{
rotor.State = this.ifNotNightMode();
}
}
}
}
void update(bool nightMode, bool isAux)
{
this.nightMode = nightMode;
this.State = this.getNextDayState(isAux);
this.previousOutput = this.MaxOutput;
if (this.previousOutput > this.maxObservedOutput)
{
this.maxObservedOutput = this.previousOutput;
}
}
RotorState ifNotNightMode(RotorState state = RotorState.Idle) => this.nightMode ? RotorState.NightIdle : state;
RotorState delayState(RotorState state, int delay = 1) => this.counter > delay ? state : this.State;
void enterState(RotorState state)
{
this.log($"{this.state} {state}");
this.counter = this.State != state ? 0 : this.counter + 1;
switch (state)
{
case RotorState.Idle:
this.stop();
foreach (SolarRotor r in this.rotors ?? Enumerable.Empty <SolarRotor>())
{
r.State = RotorState.Idle;
}
break;
case RotorState.TrackSunPrevDir:
case RotorState.TrackSunPrevDirConfirmed:
case RotorState.TrackSunRevDir:
case RotorState.TrackSunRevDirConfirmed:
this.rotate(this.previousLock.Direction ^ (this.State == RotorState.TrackSunRevDir || this.State == RotorState.TrackSunRevDirConfirmed));
break;
case RotorState.TrackSunAux:
this.stop();
if (this.State != RotorState.TrackSunAux)
{
this.updateAux();
}
else
{
this.updateAux(r => r.State != RotorState.Idle);
}
break;
case RotorState.ResetPrevious:
this.goTo(this.previousLock.Position);
break;
case RotorState.GoIdle:
this.stop();
this.previousLock = new SolarOutput(this.CurrentOutput, this.MaxOutput, this.mainRotor.Angle, this.mainRotor.AngleProxy(this.previousLock.Position) < 0);
if (this.firstLockOfTheDay)
{
this.log("First lock of the day: saving position");
this.firstLockOfTheDay = false;
this.resetAngle = this.previousLock.Position;
}
break;
case RotorState.Adjust:
if (this.State == RotorState.NightIdle)
{
this.resetAngle = this.adjustTarget;
}
else if (this.State != RotorState.Adjust)
{
this.previousLock = new SolarOutput(this.previousLock.Output, this.previousLock.MaxOutput, this.adjustTarget, this.previousLock.Direction);
}
this.goTo(this.adjustTarget);
break;
case RotorState.AdjustAux:
this.stop();
this.updateAux(r => r.State == RotorState.Adjust);
foreach (SolarRotor rotor in this.rotors.Where(r => r.State != RotorState.Adjust))
{
rotor.State = this.ifNotNightMode();
}
break;
case RotorState.NightIdle:
this.firstLockOfTheDay = true;
this.goTo(this.resetAngle);
this.updateAux();
break;
}
this.state = state;
}