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);
}
