ts.SetEDMMode('RLSTANDARD') # reflectorless distance measurement
ts.Measure() # initial measurement for startpoint
startp = ts.GetMeasure()
if ts.measureIface.state != ts.measureIface.IF_OK or 'errorCode' in startp:
print 'FATAL Cannot measure startpoint'
exit(1)
act = Angle(0) # actual angle from startpoint
# height of startpoint above the horizontal axis
height0 = math.cos(startp['v'].GetAngle()) * startp['distance']
w = True
try:
ts.SetRedLaser(1)
except:
pass
while act.GetAngle() < maxa: # go around the whole circle
ts.Measure() # measure distance0
if ts.measureIface.state != ts.measureIface.IF_OK:
ts.measureIface.state = ts.measureIface.IF_OK
ts.MoveRel(stepinterval, Angle(0))
continue
nextp = ts.GetMeasure() # get observation data
if ts.measureIface.state != ts.measureIface.IF_OK:
ts.measureIface.state = ts.measureIface.IF_OK
ts.MoveRel(stepinterval, Angle(0))
continue
if not 'v' in nextp or not 'distance' in nextp or not 'hz' in nextp:
ts.MoveRel(stepinterval, Angle(0))
continue
def run(self):
""" do the observations in horizontal section """
self.ts.Measure() # initial measurement for startpoint
if self.hz_start is not None:
# rotate to start position, keeping zenith angle
a = self.ts.GetAngles()
self.ts.Move(self.hz_start, a['v'])
startp = self.ts.GetMeasure()
startp0 = None
if self.ts.measureIface.state != self.ts.measureIface.IF_OK or 'errorCode' in startp:
print('FATAL Cannot measure startpoint')
return 1
# height of startpoint above the horizontal axis
if self.elev is None:
height0 = ts.Coords()['elev']
else:
height0 = self.elev
w = True
try:
self.ts.SetRedLaser(1) # turn on red laser if possible
except:
pass
act = Angle(0) # actual angle from startpoint
while act.GetAngle() < self.maxa: # go around the whole circle
self.ts.Measure() # measure distance0
if self.ts.measureIface.state != self.ts.measureIface.IF_OK:
self.ts.measureIface.state = self.ts.measureIface.IF_OK
self.ts.MoveRel(self.stepinterval, Angle(0))
continue
nextp = self.ts.GetMeasure() # get observation data
if self.ts.measureIface.state != self.ts.measureIface.IF_OK:
# cannot measure, skip
self.ts.measureIface.state = self.ts.measureIface.IF_OK
self.ts.MoveRel(self.stepinterval, Angle(0))
continue
if 'v' not in nextp or 'distance' not in nextp or 'hz' not in nextp:
self.ts.MoveRel(self.stepinterval, Angle(0))
continue
height = ts.Coords()['elev']
index = 0
while abs(height -
height0) > self.tol: # looking for right elevation
w = True
zenith = nextp['v'].GetAngle()
height_rel = nextp['distance'] * math.cos(zenith)
hd = math.sin(zenith) * nextp['distance']
zenith1 = math.atan(hd / (height_rel + height0 - height))
self.ts.MoveRel(Angle(0), Angle(zenith1 - zenith))
ans = self.ts.Measure()
if 'errCode' in ans:
print('Cannot measure point')
break
index += 1
if index > self.maxiter or \
self.ts.measureIface.state != self.ts.measureIface.IF_OK:
w = False
self.ts.measureIface.state = self.ts.measureIface.IF_OK
logging.warning('Missing measurement')
break
nextp = self.ts.GetMeasure()
if 'v' not in nextp or 'distance' not in nextp:
break
height = ts.Coords()['elev']
if 'distance' in nextp and startp0 is None:
startp0 = nextp # store first valid point on section
if 'distance' in nextp and w:
coord = self.ts.Coords()
res = dict(nextp.items() + coord.items())
self.wrt.WriteData(res)
self.ts.MoveRel(self.stepinterval, Angle(0))
act += self.stepinterval
# rotate back to start
self.ts.Move(startp0['hz'], startp0['v'])
return 0
elif mode == 2:
# aim on target with ATR without distance measurements
ts.MoveRel(Angle(0), Angle(0), 1)
measurement = ts.GetAngles()
elif mode == 3:
measurement = ts.GetAngles() # get angles only
elif mode == 4:
# get distance measurement with targeting mode
ts.Measure()
measurement = ts.GetMeasure()
elif mode == 5:
# go and stop, store full measurements within the limitation
measurement = ts.GetAngles()
if moving:
if abs(prev_hz.GetAngle() - measurement['hz'].GetAngle()) < limit.GetAngle() and \
abs(prev_v.GetAngle() - measurement['v'].GetAngle()) < limit.GetAngle():
n += 1
# store if the measured values within the angle limitation three times
if n <= 3:
continue
ts.Measure()
measurement = ts.GetMeasure()
moving = False # approximately standing
last_hz = measurement[
'hz'] # direction of last stored point
last_v = measurement['v']
prev_hz = measurement[
'hz'] # direction of last examined point
prev_v = measurement['v']
n = 0 # start counting again if the last examind point is stored
plane = [i / norm for i in plane]
# Checking the plane result with the observed points
for i in range(numberOfPoints):
planeRes = plane[0] * points[i]['east'] + \
plane[1] * points[i]['north'] + \
plane[2] * points[i]['elev'] + plane[3]
logging.debug("Checking the distance for the first points: %d - %.3f",
i, planeRes)
# Moving back to the first point
if numberOfPoints > 1:
ts.Move(points[0]['hz'], points[0]['v'])
act = Angle(0) # Actual angle from start point set to zero
w = True
while act.GetAngle() < arange: # Going around a whole circle
ts.Measure() # Measuring distance
if ts.measureIface.state != ts.measureIface.IF_OK:
ts.measureIface.state = ts.measureIface.IF_OK
ts.MoveRel(stepinterval, Angle(0)) # TODO
continue
nextp = ts.GetMeasure() # Get observation data
if ts.measureIface.state != ts.measureIface.IF_OK or \
'hz' not in nextp or 'v' not in nextp or \
'distance' not in nextp:
ts.measureIface.state = ts.measureIface.IF_OK
ts.MoveRel(stepinterval, Angle(0)) # TODO
continue
# Calculating the coordinates of the next points
nextp['east'] = nextp['distance'] * math.sin(nextp['v'].GetAngle()) * \
math.sin(nextp['hz'].GetAngle())
