From 022ff155a98ab0d41de6009b0d4afcc4422fc9ee Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Thu, 24 Jul 2025 09:28:23 +0300
Subject: [PATCH] ...

---
 cxx/asibfm700_hardware.cpp | 44 +++++++++++++++++++++++++++++---------
 cxx/asibfm700_hardware.h   |  4 +++-
 2 files changed, 37 insertions(+), 11 deletions(-)

diff --git a/cxx/asibfm700_hardware.cpp b/cxx/asibfm700_hardware.cpp
index c9311f9..767bf24 100644
--- a/cxx/asibfm700_hardware.cpp
+++ b/cxx/asibfm700_hardware.cpp
@@ -90,12 +90,42 @@ std::string_view AsibFM700Hardware::id() const
 }
 
 
+AsibFM700Hardware::error_t AsibFM700Hardware::getState(AsibFM700Hardware::hw_state_t& state) const
+{
+    mountdata_t data;
+    error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
+
+    if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
+        // are both motors stopped?
+        bool stop_motors = (data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
+        if (stop_motors) {
+            state = hw_state_t::HW_STATE_STOP;
+            return AsibFM700HardwareErrorCode::ERROR_OK;
+        }
+    }
+
+    return err;
+}
+
 
 AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos_t pos)
 {
-    // according to hardware configuration (encoders pins (Eddy said)) X is DEC-axis and Y is HA-axis
+    // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
     double X = pos.y, Y = pos.x;
-    auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.moveTo(&X, &Y));
+    error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.moveTo(&X, &Y));
+
+    coordpair_t hw_pos{.X = pos.y, .Y = pos.x};
+    switch (pos.state) {
+        case hw_state_t::HW_STATE_SLEW:  // slew mount
+            err = static_cast<AsibFM700HardwareErrorCode>(Mount.slewTo(&hw_pos, pos.flags));
+            break;
+        case hw_state_t::HW_STATE_TRACK:  // interpretate as guiding correction
+            break;
+        case hw_state_t::HW_STATE_STOP:
+            break;
+        default:
+            break;
+    }
 
     return err;
 }
@@ -105,7 +135,7 @@ AsibFM700Hardware::error_t AsibFM700Hardware::setPos(AsibFM700Hardware::axes_pos
 AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos_t& pos)
 {
     mountdata_t data;
-    auto err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
+    error_t err = static_cast<AsibFM700HardwareErrorCode>(Mount.getMountData(&data));
 
     if (err == AsibFM700HardwareErrorCode::ERROR_OK) {
         // time point from sidservo library is 'double' number represented UNIXTIME with
@@ -124,13 +154,7 @@ AsibFM700Hardware::error_t AsibFM700Hardware::getPos(AsibFM700Hardware::axes_pos
         pos.yrate = data.encXspeed.val;
 
         // mount state
-
-        // are both motors stopped?
-        bool stop_motors = (data.extradata.ExtraBits & XMOTOR_STOP_BIT) && (data.extradata.ExtraBits & YMOTOR_STOP_BIT);
-        if (stop_motors) {
-            pos.state = hw_state_t::HW_STATE_STOP;
-            return AsibFM700HardwareErrorCode::ERROR_OK;
-        }
+        err = getState(pos.state);
     }
 
     return err;
diff --git a/cxx/asibfm700_hardware.h b/cxx/asibfm700_hardware.h
index a992b54..f204473 100644
--- a/cxx/asibfm700_hardware.h
+++ b/cxx/asibfm700_hardware.h
@@ -35,7 +35,7 @@ struct AsibFM700HardwareErrorCategory : public std::error_category {
 };
 
 
-inline std::error_code make_error_code(AsibFM700HardwareErrorCode ec)
+static inline std::error_code make_error_code(AsibFM700HardwareErrorCode ec)
 {
     return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
 }
@@ -77,6 +77,7 @@ public:
         coord_t xrate, yrate;
 
         hw_state_t state;
+        slewflags_t flags;
     };
 
 
@@ -105,6 +106,7 @@ public:
 
     std::string_view id() const;
 
+    error_t getState(hw_state_t&) const;
     error_t setPos(axes_pos_t);
     error_t getPos(axes_pos_t&);