Adding 2D scan (edd3d613) · Commits · Elphel / motosat

test_01.php

+91 −1

Original line number	Diff line number	Diff line
		@@ -31,9 +31,15 @@ $EL_PLAY = 1.0; // Hysteresis caused by mechanical play (degrees)
		$EL_RESCAN = 8; // (degrees) around expected center
		$EL_RESCAN_STEP = 0.5; // (degrees)

		$AZ_2D_RANGE = 2.0; // degrees 2D peaking scan azimuth (full range)
		$EL_2D_RANGE = 3.0; // degrees 2D peaking scan alevation (full range)
		$AZ_2D_STEP = 0.25; // degrees
		$EL_2D_STEP = 0.4; // degrees
		$ADJUST_2D = 1; // 1 - adjust 2D, 0 - skip (only separate azimuth and elevation
		$USABLE_FRACT = 0.6; // use ony samples not less than this fraction of maximal
		$USABLE_POW = 1.0; // transform (maxstrengh - strengh) by applying pow - 1.2 ...1.3 may have marginal improvements
		$ARGMAX_OURSIDE = 0.2; // Allow argmax outside of the measured range by this fraction
		$ARGMAX_OURSIDE_2D = 0.0; // Allow argmax outside of the measured range by this fraction during 2D peaking
		/*
		http://192.168.1.250/motor.xml?Action=ElUp&Distance=0.5&Units=1 0.5 degree up

		@@ -66,7 +72,8 @@ if (true) {
		for ($i= 0; $i < $rows; $i++){
		$line = $arr;
		for ($j= 0; $j < $cols; $j++){
		$line[$j] *= $arr[$i]/51;
		$i1 = ($i + 10) % $rows;
		$line[$j] *= $arr[$i1]/51;
		$line[$j] += rand(-10,10);
		if ($line[$j] <1){
		$line[$j] = 1;
		@@ -127,6 +134,14 @@ if ($scan_mode){
		if (intval ($Success)){
		$Success = peakAzimuthOrElevation($xml_state, 1, $EL_PLAY,$EL_RESCAN, $EL_RESCAN_STEP, $USABLE_FRACT, $USABLE_POW, $ARGMAX_OURSIDE);
		$xml_state = simplexml_load_file($motosat_url);
		$DishAngle1D = $xml_state->DishAngle;
		if (intval ($Success) && $ADJUST_2D){
		$Success = peak2D($xml_state, $AZ_PLAY, $EL_PLAY, $AZ_2D_RANGE, $EL_2D_RANGE, $AZ_2D_STEP, $EL_2D_STEP, $USABLE_FRACT, $USABLE_POW, $ARGMAX_OURSIDE_2D);
		$xml_state = simplexml_load_file($motosat_url);
		if ($Success){
		$DishAngle2D = $xml_state->DishAngle;
		}
		}
		}
		}

		@@ -137,6 +152,12 @@ if ($scan_mode){

		$xml->addChild ('Success',(string) $Success );
		$xml->addChild ('SignalQuality',(string) $SignalQuality );
		if (isset($DishAngle1D)){
		$xml->addChild ('DishAngle1D',$xml_state->$DishAngle1D );
		}
		if (isset($DishAngle2D)){
		$xml->addChild ('DishAngle2D',$xml_state->$DishAngle2D );
		}
		$xml->addChild ('DishAngle',$xml_state->DishAngle );
		$xml->addChild ('DishCount',$xml_state->DishCountt );
		$xml->addChild ('busy',(string) $busy );
		@@ -175,6 +196,75 @@ header('Access-Control-Allow-Origin: *');
		printf($rslt);
		exit (0);

		function peak2D($xml_state, $az_play, $el_play, $az_range, $el_range, $az_step, $el_step, $fract, $pow = 1.0, $argmax_outside=0.0){
		global $motosat_url, $dbg_file;
		if ($xml_state === null){
		$xml_state = simplexml_load_file($motosat_url);
		}
		$DishAngle = getDishAngles ($xml_state);

		$azel_start_center = $DishAngle;
		//move to sart rescan azimuth minus mechanical play
		$DishAngle[0] = $azel_start_center[0] - $az_play - $az_range/2;
		$DishAngle[1] = $azel_start_center[1] - $el_play - $el_range/2;
		moveElAzSk_degrees($DishAngle);
		$scan_strengths = Array();
		for ($el = $azel_start_center[1] - $el_range / 2; $el < ($azel_start_center[1] + $el_range / 2 + $el_step); $el += $el_step) {
		$scan_strengths_line = Array();
		$DishAngle[1] = $el;
		for ($az = $azel_start_center[0] - $az_range / 2; $az < ($azel_start_center[0] + $az_range / 2 + $az_step); $az += $az_step) {
		$DishAngle[0] = $az;
		moveElAzSk_degrees($DishAngle); // to be on the safe side re-read xml
		$modem_strength = getModemStrength();
		$scan_strengths_line[] = $modem_strength;
		}
		$scan_strengths[] = $scan_strengths_line;
		}

		if ($dbg_file !== null) {
		fprintf($dbg_file, "==== 2D scan strengths: ====\n");
		fprintf($dbg_file, print_r($scan_strengths, 1));
		}

		// $rel_argmax = findMax1d($scan_strengths, $fract, $pow, $argmax_outside);
		$rel_argmax = findMax2d($scan_strengths, $fract, $pow, $argmax_outside); // $pow not yet used


		$azel_argmax = $azel_start_center;
		$success = 0;
		if ($rel_argmax !== null) {
		$azel_argmax = array(
		$azel_start_center[0] - $az_range / 2 + $az_step * $rel_argmax[0],
		$azel_start_center[1] - $el_range / 2 + $el_step * $rel_argmax[1]
		);
		$success = 1;
		} else {
		if ($dbg_file !== null) {
		fprintf($dbg_file, "****** Failed to find maximum for 2d peaking, going to known position.\n");
		}
		}
		if ($dbg_file !== null) {
		fprintf($dbg_file, "reltive argmax = [az=%f, el=%f]\n", $rel_argmax[0], $rel_argmax[1]);
		fprintf($dbg_file, " argmax = [az=%f, el=%f] (was [az=%f, el=%f])\n", $azel_argmax[0], $azel_argmax[1], $azel_start_center[0], $azel_start_center[1]);
		}
		$DishAngle[0] = $azel_argmax[0] - $az_play;
		$DishAngle[1] = $azel_argmax[1] - $el_play;
		if ($dbg_file !== null) {
		fprintf($dbg_file, "====== Moving to compensate az/el motors play to [az=%f, el=%f]\n", $DishAngle[0], $DishAngle[1]);
		}

		moveElAzSk_degrees($DishAngle);
		$DishAngle[0] = $azel_argmax[0];
		$DishAngle[1] = $azel_argmax[1];
		if ($dbg_file !== null) {
		fprintf($dbg_file, "====== Moving to argmax position = [az=%f, el=%f]\n", $DishAngle[0], $DishAngle[1]);
		}
		moveElAzSk_degrees($DishAngle);
		return $success; // success
		}



		function peakAzimuthOrElevation($xml_state, $el_not_az, $azel_play, $azel_range, $azel_step, $fract, $pow = 1.0, $argmax_outside=0.2){
		global $motosat_url, $dbg_file;
		if ($xml_state === null){

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