public void HardwareStatusReceived(IRotatorStatus status)
{
Logger.Info().Message("Rotator status {status}", status).Write();
RotatorStatus = status;
UpdateStatus(status);
RotatorState.StatusUpdateReceived(status);
}
void SetRotatorState(RotatorState newState)
{
rotatorState = newState;
switch (rotatorState)
{
case RotatorState.Spinning:
rotatorAudioSource.loop = true;
rotatorAudioSource.clip = rotatorSpin;
rotatorAudioSource?.Play();
break;
case RotatorState.SpinningDown:
rotatorAudioSource?.PlayOneShot(rotatorSpinDown);
break;
case RotatorState.SpinningUp:
rotatorAudioSource?.PlayOneShot(rotatorSpinUp);
break;
case RotatorState.Nothing:
rotatorAudioSource?.Stop();
break;
}
}
public void AzimuthEncoderTickReceived(int encoderPosition)
{
AzimuthEncoderPosition = encoderPosition;
// CurrentState.RotationDetected();
RotatorState.RotationDetected();
}
public void SyncAzimuth(double azimuth)
{
Logger.Info().Message("Sync rotator azimuth to {azimuth}", azimuth).Write();
decimal ticksPerDegree = DomeCircumference / 360.0m;
decimal syncPosition = (decimal)azimuth * ticksPerDegree;
RotatorState.SyncRotatorToStepPosition((int)syncPosition);
}
private bool IsAngleMatched(RotatorState state, float destinationAngle, float currentAngle, float previousAngle)
{
// Degenerate case
if (destinationAngle == currentAngle)
{
return(true);
}
// COs we are dealing with velocities
// we can miss our angle, so we need to check a range.
// Howver it's not a simple number line, but a clock. so caution is required,
if (state != RotatorState.Clockwise && state != RotatorState.Widdershins)
{
throw new Exception("Rotator all out of whack");
}
// 1. Get the difference between current and previous update (the direction informs this...Though it's not the end of t
var angleDistance = (state == RotatorState.Clockwise) ? currentAngle - previousAngle : previousAngle - currentAngle;
// 3. Is Our angle in the range from Current to Current-DistanceSinceLastUpdate.
var lowerbound = 0f;
var upperbound = 0f;
if (state == RotatorState.Clockwise)
{
lowerbound = currentAngle - angleDistance;
upperbound = (int)Math.Floor(currentAngle) % 360f; // Current angle can read as 360. This may be a bug...Not confident enough to pull it apart.
}
else
{
lowerbound = (int)Math.Floor(currentAngle); // notice same change not applied as above.
upperbound = (angleDistance > 0f) ? currentAngle + angleDistance : 360f + angleDistance;
}
// if lower is greater than upper
// we have widdershined/Clockwised around the clock. So we are calculating from the previous/next loop around.
// or more numbersie we are using the strict numberline and not the modulo.
// This is an odd way of managing state. We only know we've gone/goingthe clock if the one of the numbers are outside the range
if (lowerbound > upperbound)
{
lowerbound = lowerbound - 360f;
}
// Finally is our destination angle between the lower/upperbound
return(lowerbound <= destinationAngle && upperbound >= destinationAngle);
}
public void SetState(RotatorState state)
{
this.State = state;
}
public void AzimuthEncoderTickReceived(int encoderPosition)
{
Logger.Debug().Message("Rotator position received {position}", encoderPosition).Write();
AzimuthEncoderPosition = encoderPosition;
RotatorState.RotationDetected();
}
public void RotateToHomePosition() => RotatorState.RotateToHomePosition();
public void RotateToStepPosition(int targetStepPosition) => RotatorState.RotateToStepPosition(targetStepPosition);
public void RotateToAzimuthDegrees(double azimuth)
{
// CurrentState.RotateToAzimuthDegrees(azimuth);
RotatorState.RotateToAzimuthDegrees(azimuth);
}
public void RotationDirectionReceived(RotationDirection direction)
{
AzimuthDirection = direction;
RotatorState.RotationDetected();
}
public void AllStop()
{
Logger.Warn().Message("Emergency Stop requested").Write();
ControllerActions.PerformEmergencyStop();
RotatorState.HardStopRequested();
}