61 lines
2.2 KiB
C++
61 lines
2.2 KiB
C++
#pragma once
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#include "fgc/Config.h"
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#include <cstddef>
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#include <vector>
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namespace fgc {
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// One capture waypoint, in degrees (converted to encoder counts at command time
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// via Geometry).
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struct ScanPoint {
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double yaw_deg = 0.0;
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double pitch_deg = 0.0;
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};
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// The ordered list of scan waypoints plus a one-way cursor: the auto-sweep walks
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// the list front to back, then returns to the first point and repeats, so every
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// pass covers the waypoints in the same order and each image sequence is
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// directly comparable to the last.
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//
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// The cost is a long return slew from the last waypoint to the first, since the
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// yaw arc is bounded and cannot wrap. Order the grid so that leg is acceptable.
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//
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// Points come from an operator-edited CSV (ScanConfig::grid_file) and nowhere
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// else. There is deliberately no fallback grid: a tower that invented its own
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// waypoints would archive images under bearings nobody chose, and the operator
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// would have no file to point at to find out what was photographed.
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class ScanGrid {
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public:
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ScanGrid() = default;
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explicit ScanGrid(std::vector<ScanPoint> points) : points_(std::move(points)) {}
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// Load grid_file. Throws std::runtime_error if it is unset, missing,
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// malformed or empty; the caller reports that and leaves auto-sweep off.
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static ScanGrid fromConfig(const ScanConfig& cfg);
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bool empty() const { return points_.empty(); }
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std::size_t size() const { return points_.size(); }
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std::size_t index() const { return index_; } // live cursor position
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const ScanPoint& current() const { return points_[index_]; }
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const std::vector<ScanPoint>& points() const { return points_; }
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// Step the cursor one waypoint, wrapping from the last back to the first.
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void advance();
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void reset() { index_ = 0; }
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private:
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std::vector<ScanPoint> points_;
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std::size_t index_ = 0;
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};
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// Exposed for unit testing.
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std::vector<ScanPoint> parseScanCsv(const std::string& text);
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// Waypoints whose bearing an earlier one already has. On a yaw-only tower the
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// pitch column is ignored, so each of these photographs that bearing again.
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std::size_t repeatedBearings(const std::vector<ScanPoint>& points);
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} // namespace fgc
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