...

asibfm700/asibfm700_mount.h

@@ -53,6 +53,8 @@ protected:
 
         void enter(MccGenericFsmMountErrorEvent& event)
         {
+            enterLog(event);
+
             // event.mount()->logWarn("The mount already in error state!");
             auto err = event.eventData();
             event.mount()->logError("An error occured: {} [{} {}]", err.message(), err.value(), err.category().name());

asibfm700/asibfm700_netserver_main.cpp

@@ -44,7 +44,8 @@ int main(int argc, char* argv[])
     options.positional_help("[endpoint0] [enpoint1] ... [endpointN]");
     options.parse_positional({"endpoints"});
 
-    asio::io_context ctx(2);
+    // asio::io_context ctx(2);
+    asio::io_context ctx;
 
 
     try {
@@ -153,7 +154,7 @@ int main(int argc, char* argv[])
         }
 
 
-        asio::thread_pool pool(3);
+        asio::thread_pool pool(5);
 
         asio::post(pool, [&ctx]() { ctx.run(); });
 

mcc/mcc_generic_mount.h

@@ -255,7 +255,7 @@ public:
             _enteredTargetCoordiniates.pair_kind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
             xstr = MccAngle(_enteredTargetCoordiniates.X).sexagesimal(true);
         } else {
-            MccAngle(_enteredTargetCoordiniates.X).sexagesimal();
+            xstr = MccAngle(_enteredTargetCoordiniates.X).sexagesimal();
         }
 
         logInfo(std::format("Set entered target coordinates to: {} {} {}", xstr,
@@ -598,6 +598,7 @@ protected:
 
         using transition_t = fsm::fsm_transition_table_t<
             std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<ERROR_STATE_T>>,
+            std::pair<MccGenericFsmMountStopEvent, MccGenericFsmMountStopState<ERROR_STATE_T>>,
             std::pair<MccGenericFsmMountErrorEvent, ERROR_STATE_T>,
             std::pair<MccGenericFsmMountTrackEvent, MccGenericFsmMountTrackState<ERROR_STATE_T>>,
             std::pair<MccGenericFsmMountSlewEvent, MccGenericFsmMountSlewState>>;
@@ -664,6 +665,7 @@ protected:
 
         using transition_t = fsm::fsm_transition_table_t<
             std::pair<MccGenericFsmMountIdleEvent, MccGenericFsmMountIdleState<ERROR_STATE_T>>,
+            std::pair<MccGenericFsmMountStopEvent, MccGenericFsmMountStopState<ERROR_STATE_T>>,
             std::pair<MccGenericFsmMountErrorEvent, ERROR_STATE_T>,
             std::pair<MccGenericFsmMountTrackEvent, MccGenericFsmMountTrackState>>;
 

mcc/mcc_slewing_model.h

@@ -199,7 +199,7 @@ public:
                 return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
             }
 
-            std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
+            // std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
             // mcc_tp2tp(hw_state.time_point, start_slewing_tp); // not compiled!!
 
             // double dist, dx, dy, sinY, rate2, xrate;
@@ -210,6 +210,10 @@ public:
             bool adjust_mode = false;
             static constexpr auto sideral_rate2 = slewing_params_t::sideralRate * slewing_params_t::sideralRate;
 
+            std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
+            start_slewing_tp = std::chrono::steady_clock::now();
+            last_adjust_tp = start_slewing_tp;
+
             while (true) {
                 // wait for updated telemetry data
                 {
@@ -231,10 +235,10 @@ public:
                 // and check them for getting into the prohibited zones
                 if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
                     cpt.X = tdata.HA + tdata.speedX * min_time_to_pzone_in_secs;
-                    cpt.X = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
+                    cpt.Y = tdata.DEC_APP + tdata.speedY * min_time_to_pzone_in_secs;
                 } else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
                     cpt.X = tdata.AZ + tdata.speedX * min_time_to_pzone_in_secs;
-                    cpt.X = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
+                    cpt.Y = tdata.ZD + tdata.speedY * min_time_to_pzone_in_secs;
                 }
                 mcc_tp2tp(tdata.time_point, cpt.time_point);
 

mcc/mcc_telemetry.h

@@ -598,15 +598,20 @@ public:
 
         *_isDataUpdated = false;
 
-        // std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
+        std::future<error_t> update_ft = std::async(std::launch::async, _updateFunc, stop_source.get_token());
-        std::future<error_t> update_ft =
+        // std::future<error_t> update_ft =
-            std::async(std::launch::async, _updateFunc, _internalUpdatingStopSource.get_token());
+        //     std::async(std::launch::async, _updateFunc, _internalUpdatingStopSource.get_token());
         auto status = update_ft.wait_for(timeout);
 
         if (status == std::future_status::ready) {
             *_isDataUpdated = true;
             _lastUpdateError = update_ft.get();
-        } else {
+        } else if (status == std::future_status::deferred) {  // std::async was invoked in this thread, get result
+            _lastUpdateError = update_ft.get();
+            if (!_lastUpdateError) {
+                *_isDataUpdated = true;
+            }
+        } else {  // timeout
             stop_source.request_stop();
             _lastUpdateError = MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
         }
@@ -631,7 +636,7 @@ public:
             return MccTelemetryErrorCode::ERROR_DATA_TIMEOUT;
         }
 
-        std::lock_guard thread_lock{*_updateMutex};
+        // std::lock_guard thread_lock{*_updateMutex};
 
         if (!_lastUpdateError) {
             mcc_copy_telemetry_data(_data, tdata);

mcc/mcc_tracking_model.h

@@ -254,8 +254,10 @@ public:
 
 
             std::chrono::steady_clock::time_point last_corr_tp, last_ipzone_update_tp;
+            last_corr_tp = std::chrono::steady_clock::now();
+            last_ipzone_update_tp = last_corr_tp;
 
-            while (*_stopTracking) {
+            while (!*_stopTracking) {
                 // wait for updated telemetry data
                 {
                     std::lock_guard lock{*_currentParamsMutex};