TAO Cheng
85 lines
2.8 KiB
C++
85 lines
2.8 KiB
C++
//////////////////////////////////////////////////////////////////////
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//
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// HAL_Pendant.cpp : interface for the Pendant related functions
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//
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//////////////////////////////////////////////////////////////////////
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#include "StdAfx.h"
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#include <math.h>
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#include "HAL.h"
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#include "HSI.h"
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extern CHAL *g_pHSI;
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extern CHALMicroVuExt g_HSIExt;
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extern int GetLampNumberFromLocation(const enum HAL_ILLUMINATION_LAMP_LOCATION_TYPE SearchLocationType);
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HAL_STATUS HAL_Pendant_IsSupported(UINT &Type)
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{
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Type = HAL_PENDANT_SUPPORTS_JOYSTICK;
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HAL_SendDebug(_T("HAL_Pendant_IsSupported %X\n"), Type);
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return HAL_STATUS_NORMAL;
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}
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void SetupPendantSpeeds()
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{
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if(g_HSIExt.m_ActiveProbe==APT_VISION)
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{
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// Now we've changed mag, update the pendant settings so our fine speed is good for current optics
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double PixelX=-1.0,PixelY=-1.0;
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if(g_HSIExt.m_IsCalibrated && g_pHSI->Optics.GetMagnification(PixelX,PixelY)==HAL_STATUS_NORMAL)
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{
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// Optics calibrated so base XYZ fine speed on pixel/fov size
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int FOVSizeX, FOVSizeY;
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g_pHSI->FrameGrabber.GetImageSize(FOVSizeX, FOVSizeY);
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// g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_X][APT_VISION] = fabs((PixelX * FOVSizeX) / g_HSIExt.m_AxisVelocity[HAL_AXIS_X]) * g_HSIExt.m_Pendant_FineSpeedFactor;
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// g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Y][APT_VISION] = fabs((PixelX * FOVSizeX) / g_HSIExt.m_AxisVelocity[HAL_AXIS_Y]) * g_HSIExt.m_Pendant_FineSpeedFactor;
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// g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Z][APT_VISION] = fabs((PixelX * FOVSizeX/2) / g_HSIExt.m_AxisVelocity[HAL_AXIS_Z]) * g_HSIExt.m_Pendant_FineSpeedFactor;
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}
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else
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{
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// Optics not calibrated so use default XYZ fine speed
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// g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_X][APT_VISION] = g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_X][APT_CONTACT] * g_HSIExt.m_Pendant_FineSpeedFactor;
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// g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Y][APT_VISION] = g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Y][APT_CONTACT] * g_HSIExt.m_Pendant_FineSpeedFactor;
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// g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Z][APT_VISION] = g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Z][APT_CONTACT] * g_HSIExt.m_Pendant_FineSpeedFactor;
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}
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// Use default Q fine speed
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// g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Q][APT_VISION] = g_HSIExt.m_Pendant_FineSpeed[HAL_AXIS_Q][APT_CONTACT];
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}
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}
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HAL_STATUS SetPendantControlMode(enum HAL_CTRL_MODE /*ControlMode*/)
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{
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HAL_STATUS Status = HAL_STATUS_NORMAL;
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return Status;
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}
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HAL_STATUS CheckPendantLightControl()
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{
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HAL_STATUS Status = HAL_STATUS_NORMAL;
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return Status;
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}
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HAL_STATUS HAL_Pendant_Startup( )
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{
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HAL_STATUS Status = HAL_STATUS_NORMAL;
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return Status;
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}
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HAL_STATUS HAL_Pendant_Enable( bool bEnable )
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{
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UNREFERENCED_PARAMETER(bEnable);
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HAL_STATUS Status = HAL_STATUS_NORMAL;
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return Status;
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}
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HAL_STATUS HAL_Pendant_Shutdown( )
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{
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return HAL_STATUS_NORMAL;
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}
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