Adding 2D scan

test_01.php

@@ -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){