Scan sweep now always runs front to back instead of ping-ponging

config/config.example.ini

@@ -188,7 +188,11 @@ enc_error_warn_counts = 400
 ; If grid_file is set, that CSV is used verbatim (one "yaw_deg,pitch_deg" per
 ; line, '#' comments allowed) - edit it to define exact scan coordinates.
 ; If grid_file is blank, a grid is generated: yaw_intervals positions across
-; [yaw_min_deg, yaw_max_deg] at each pitch level, traversed ping-pong.
+; [yaw_min_deg, yaw_max_deg] at each pitch level.
+; The sweep always runs front to back, then returns to the first waypoint and
+; repeats, so every pass captures the waypoints in the same order. The return
+; leg is one long slew (the yaw arc cannot wrap), so order the grid with that
+; in mind.
 grid_file =
 yaw_intervals = 56
 yaw_min_deg = -90

docs/architecture.md

@@ -72,7 +72,7 @@ corrupted.
 3. **Control input** — `IControlChannel::poll()` returns the latest `ControlCommand` (control code + target
    heading), clearing its "available" flags so each update is acted on once.
 4. **Capture cycle** (`CaptureScheduler::tick`, per 10 ms) — a move → settle → trigger machine:
-   - ControlCode 0: `MOVE <yaw>,<pitch>` to the next `ScanGrid` waypoint (ping-pong).
+   - ControlCode 0: `MOVE <yaw>,<pitch>` to the next `ScanGrid` waypoint (front to back, then wrap).
    - ControlCode 1: `MOVE` yaw to `target_HDG` (pitch held), converted to counts via `Geometry`.
    - Trigger the cameras once **both axes report standstill at the target**, then advance the grid.
 5. **Acquisition + quality gate** (`GatedCameraSource`) — `trigger()` does not simply take a picture. It

docs/configuration.md

@@ -130,7 +130,8 @@ the live session immediately; in the TUI the activity strip then offers to save
 new default (`y`/`n`). `gimbal stop` cancels a run. Timings (dwell, no-rotation duration, etc.) are the
 `CalibParams` defaults in [CalibrationRoutine.h](../include/fgc/CalibrationRoutine.h).
 
-The capture **scan grid** is the ordered `(yaw,pitch)` waypoints auto-sweep visits (ping-pong). Set
+The capture **scan grid** is the ordered `(yaw,pitch)` waypoints auto-sweep visits, always front to
+back. Set
 `[Scan] grid_file` to an editable CSV ([config/scan.csv](../config/scan.csv)) to define exact
 coordinates, or leave it blank to generate `yaw_intervals × pitch_levels` points.
 
@@ -387,6 +388,6 @@ The firmware speaks **full-word, newline-terminated** commands in absolute **enc
 
 Capture is a **move → settle → trigger** cycle: the scheduler issues a `MOVE`, waits until both
 axes report standstill at the target, then triggers the cameras. **ControlCode 0** walks the scan
-grid (ping-pong); **ControlCode 1** drives yaw to `target_HDG` (pitch held). Telemetry arrives as
+grid (front to back, repeating); **ControlCode 1** drives yaw to `target_HDG` (pitch held). Telemetry arrives as
 firmware `ST` lines (per-axis state + encoder counts), parsed by
 [TelemetryParser](../src/core/TelemetryParser.cpp).

docs/modules-reference.md

@@ -10,7 +10,7 @@ Per-file reference for the refactored tree, plus the shared data structures.
 | [include/fgc/Paths.h](../include/fgc/Paths.h), [src/core/Paths.cpp](../src/core/Paths.cpp) | `~`/`$ENV` expansion, executable dir, config search order, default output dir |
 | [include/fgc/Logger.h](../include/fgc/Logger.h), [src/core/Logger.cpp](../src/core/Logger.cpp) | Leveled, thread-safe logger + per-category wire trace; `LOG_TRACE..LOG_ERROR`, `LOG_TRACE_CAT` |
 | [include/fgc/Geometry.h](../include/fgc/Geometry.h), [src/core/Geometry.cpp](../src/core/Geometry.cpp) | Per-axis degrees↔encoder-counts affine map (`[Motor]` calibration) |
-| [include/fgc/ScanGrid.h](../include/fgc/ScanGrid.h), [src/core/ScanGrid.cpp](../src/core/ScanGrid.cpp) | Capture waypoints (CSV or generated) + ping-pong cursor (`[Scan]`) |
+| [include/fgc/ScanGrid.h](../include/fgc/ScanGrid.h), [src/core/ScanGrid.cpp](../src/core/ScanGrid.cpp) | Capture waypoints (CSV or generated) + one-way wrapping cursor (`[Scan]`) |
 | [include/fgc/TelemetryParser.h](../include/fgc/TelemetryParser.h), [src/core/TelemetryParser.cpp](../src/core/TelemetryParser.cpp) | `parseTelemetryLine` (firmware `ST` line) → `std::optional<MotorTelemetry>` |
 | [include/fgc/CommandParser.h](../include/fgc/CommandParser.h), [src/core/CommandParser.cpp](../src/core/CommandParser.cpp) | `parseCommand` whitespace tokenizer → `Command` |
 | [include/fgc/HelpText.h](../include/fgc/HelpText.h), [src/core/HelpText.cpp](../src/core/HelpText.cpp) | Operator command catalog (`helpCatalog`) + `renderHelp` (console & TUI help) |

docs/mqtt-api.md

@@ -41,7 +41,7 @@ flags** so each update is acted on once (`MqttControlChannel::poll()`).
 
 | ControlCode | Behaviour ([CaptureScheduler](../src/core/CaptureScheduler.cpp)) |
 |-------------|---------------------------------------------------|
-| `0` | **Automatic sweep.** Walk the scan grid (ping-pong): `MOVE` to the next `(yaw,pitch)` waypoint, wait for standstill, trigger cameras. |
+| `0` | **Automatic sweep.** Walk the scan grid front to back, then start over: `MOVE` to the next `(yaw,pitch)` waypoint, wait for standstill, trigger cameras. |
 | `1` | **Directed.** `MOVE` yaw to `target_HDG` (pitch held), wait for standstill, trigger. |
 
 When a ControlCode message arrives, the program echoes the current code back on the StatusCode topic.

include/fgc/CaptureScheduler.h

@@ -26,7 +26,7 @@ namespace fgc {
 //      layer (see GatedCameraSource) - the scheduler only cares that trigger()
 //      eventually succeeds, and retries next tick if it does not.
 //
-// ControlCode 0 = automatic sweep through the ScanGrid (ping-pong);
+// ControlCode 0 = automatic sweep through the ScanGrid (front to back, repeating);
 // ControlCode 1 = drive yaw to the MQTT-supplied target heading (pitch held).
 // Degrees are converted to encoder counts via Geometry.
 class CaptureScheduler {

include/fgc/ScanGrid.h

@@ -14,9 +14,13 @@ struct ScanPoint {
     double pitch_deg = 0.0;
 };
 
-// The ordered list of scan waypoints plus a ping-pong (boustrophedon) cursor:
+// The ordered list of scan waypoints plus a one-way cursor: the auto-sweep walks
-// the auto-sweep walks the list forward to the last point, then backward to the
+// the list front to back, then returns to the first point and repeats, so every
-// first, repeating - so a bounded (e.g. 180 deg) yaw arc never has to wrap.
+// pass covers the waypoints in the same order and each image sequence is
+// directly comparable to the last.
+//
+// The cost is a long return slew from the last waypoint to the first, since the
+// yaw arc is bounded and cannot wrap. Order the grid so that leg is acceptable.
 //
 // Points come either from an operator-edited CSV (ScanConfig::grid_file) or, if
 // none is given, are generated from the [Scan] parameters.
@@ -35,14 +39,13 @@ public:
     const ScanPoint& current() const { return points_[index_]; }
     const std::vector<ScanPoint>& points() const { return points_; }
 
-    // Step the cursor one waypoint, reversing direction at either end.
+    // Step the cursor one waypoint, wrapping from the last back to the first.
     void advance();
-    void reset() { index_ = 0; forward_ = true; }
+    void reset() { index_ = 0; }
 
 private:
     std::vector<ScanPoint> points_;
-    std::size_t            index_   = 0;
+    std::size_t            index_ = 0;
-    bool                   forward_ = true;
 };
 
 // Exposed for unit testing.

src/core/ScanGrid.cpp

@@ -64,7 +64,7 @@ std::vector<ScanPoint> generateScanGrid(const ScanConfig& cfg) {
     if (pitches.empty()) pitches.push_back(0.0);
     int n = cfg.yaw_intervals;
     if (n < 1) n = 1;
-    // pitch-major, yaw inner (min -> max); the runtime cursor ping-pongs the whole list.
+    // pitch-major, yaw inner (min -> max); the runtime cursor walks the whole list in order.
     for (double pitch : pitches) {
         for (int i = 0; i < n; ++i) {
             double frac = n > 1 ? static_cast<double>(i) / (n - 1) : 0.0;
@@ -92,22 +92,10 @@ ScanGrid ScanGrid::fromConfig(const ScanConfig& cfg) {
 }
 
 void ScanGrid::advance() {
-    if (points_.size() <= 1) return;
+    if (points_.empty()) return;
-    if (forward_) {
+    // Wrap rather than reverse: every pass visits the waypoints in the same
-        if (index_ + 1 < points_.size()) {
+    // order, at the cost of one long return slew back to the start.
-            ++index_;
+    index_ = (index_ + 1) % points_.size();
-        } else {
-            forward_ = false;
-            --index_;
-        }
-    } else {
-        if (index_ > 0) {
-            --index_;
-        } else {
-            forward_ = true;
-            ++index_;
-        }
-    }
 }
 
 }  // namespace fgc

tests/test_scangrid.cpp

@@ -33,21 +33,50 @@ TEST_CASE("generateScanGrid produces yaw_intervals x pitch_levels points") {
     CHECK(pts[3].pitch_deg == doctest::Approx(30.0));
 }
 
-TEST_CASE("ScanGrid cursor ping-pongs at both ends") {
+TEST_CASE("ScanGrid cursor always runs front to back") {
     ScanGrid g({{0, 0}, {1, 0}, {2, 0}});
     CHECK(g.current().yaw_deg == doctest::Approx(0.0));
     g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0));
     g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(2.0));
-    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0));  // reversed
+    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(0.0));  // wrapped, not reversed
-    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(0.0));
+    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0));
-    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0));  // reversed again
+    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(2.0));
+    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(0.0));  // and again
+}
+
+TEST_CASE("ScanGrid index wraps in step with the waypoints") {
+    ScanGrid g({{0, 0}, {1, 0}, {2, 0}, {3, 0}});
+    for (std::size_t pass = 0; pass < 3; ++pass) {
+        for (std::size_t i = 0; i < g.size(); ++i) {
+            CHECK(g.index() == i);
+            CHECK(g.current().yaw_deg == doctest::Approx(static_cast<double>(i)));
+            g.advance();
+        }
+    }
+    CHECK(g.index() == 0);
+}
+
+TEST_CASE("ScanGrid reset returns to the first waypoint") {
+    ScanGrid g({{0, 0}, {1, 0}, {2, 0}});
+    g.advance();
+    g.advance();
+    CHECK(g.index() == 2);
+    g.reset();
+    CHECK(g.index() == 0);
+    CHECK(g.current().yaw_deg == doctest::Approx(0.0));
+    // Still forward after a reset - there is no direction state to get stuck in.
+    g.advance(); CHECK(g.current().yaw_deg == doctest::Approx(1.0));
 }
 
 TEST_CASE("ScanGrid single point and empty are safe") {
     ScanGrid one({{5, 5}});
     one.advance();
     CHECK(one.current().yaw_deg == doctest::Approx(5.0));
+    one.advance();
+    CHECK(one.index() == 0);
 
     ScanGrid none;
     CHECK(none.empty());
+    none.advance();  // must not divide by zero or index an empty vector
+    CHECK(none.empty());
 }