...
This commit is contained in:
Timur A. Fatkhullin
parent
e18066e4a6
commit
0ce4430668
@ -18,7 +18,7 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_p
|
||||
gm_class_t(std::make_tuple(config.servoControllerConfig()),
|
||||
std::make_tuple(this),
|
||||
std::make_tuple(),
|
||||
std::make_tuple(this, this),
|
||||
std::make_tuple(this, Asibfm700Logger{logger}),
|
||||
std::make_tuple(this),
|
||||
std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
|
||||
// base_gm_class_t(Asibfm700StartState{},
|
||||
|
||||
@ -9,6 +9,7 @@
|
||||
#include "mcc_defaults.h"
|
||||
#include "mcc_generics.h"
|
||||
#include "mcc_moving_model_common.h"
|
||||
#include "mcc_spdlog.h"
|
||||
|
||||
namespace mcc
|
||||
{
|
||||
@ -119,14 +120,14 @@ public:
|
||||
typedef MccSimpleMovingModelParams slewing_params_t;
|
||||
|
||||
template <mcc_all_controls_c CONTROLS_T, mcc_logger_c LoggerT = MccNullLogger>
|
||||
MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT* logger)
|
||||
MccSimpleSlewingModel(CONTROLS_T* controls, LoggerT logger)
|
||||
: _stopSlewing(new std::atomic_bool()), _currentParamsMutex(new std::mutex)
|
||||
{
|
||||
// logger->logDebug("Create MccSimpleSlewingModel class instance");
|
||||
logger.logDebug("Create MccSimpleSlewingModel class instance");
|
||||
|
||||
*_stopSlewing = true;
|
||||
|
||||
_slewingFunc = [controls, logger, this](bool slew_and_stop) -> error_t {
|
||||
_slewingFunc = [controls, logger = std::move(logger), this](bool slew_and_stop) mutable -> error_t {
|
||||
// first, check target coordinates
|
||||
typename CONTROLS_T::error_t t_err;
|
||||
MccTelemetryData tdata;
|
||||
@ -148,17 +149,17 @@ public:
|
||||
}
|
||||
}
|
||||
|
||||
logger->logInfo(
|
||||
logger.logInfo(
|
||||
std::format("Start slewing in mode '{}'", (slew_and_stop ? "SLEW-AND-STOP" : "SLEW-AND-TRACK")));
|
||||
logger->logInfo(std::format(" slewing process timeout: {} secs", _currentParams.slewTimeout.count()));
|
||||
logger.logInfo(std::format(" slewing process timeout: {} secs", _currentParams.slewTimeout.count()));
|
||||
if (!slew_and_stop) {
|
||||
logger->logInfo(std::format(" slewing tolerance radius: {} arcsecs",
|
||||
mcc::MccAngle{_currentParams.slewToleranceRadius}.arcsecs()));
|
||||
logger.logInfo(std::format(" slewing tolerance radius: {} arcsecs",
|
||||
mcc::MccAngle{_currentParams.slewToleranceRadius}.arcsecs()));
|
||||
}
|
||||
logger->logInfo(std::format(" braking acceleration X: {} degs/s^2 (in config: {} rads/s^2)",
|
||||
mcc::MccAngle(braking_accelX).degrees(), _currentParams.brakingAccelX));
|
||||
logger->logInfo(std::format(" braking acceleration Y: {} degs/s^2 (in config: {} rads/s^2)",
|
||||
mcc::MccAngle(braking_accelY).degrees(), _currentParams.brakingAccelY));
|
||||
logger.logInfo(std::format(" braking acceleration X: {} degs/s^2 (in config: {} rads/s^2)",
|
||||
mcc::MccAngle(braking_accelX).degrees(), _currentParams.brakingAccelX));
|
||||
logger.logInfo(std::format(" braking acceleration Y: {} degs/s^2 (in config: {} rads/s^2)",
|
||||
mcc::MccAngle(braking_accelY).degrees(), _currentParams.brakingAccelY));
|
||||
|
||||
{
|
||||
std::lock_guard lock{*_currentParamsMutex};
|
||||
@ -179,14 +180,14 @@ public:
|
||||
if (in_zone) {
|
||||
*_stopSlewing = true;
|
||||
|
||||
logger->logError("target point is in prohibited zone!");
|
||||
logger->logError(std::format(
|
||||
logger.logError("target point is in prohibited zone!");
|
||||
logger.logError(std::format(
|
||||
"RA-APP, DEC-APP, HA, LST: {}, {}, {}, {}", mcc::MccAngle{tdata.target.RA_APP}.sexagesimal(true),
|
||||
mcc::MccAngle{tdata.target.DEC_APP}.sexagesimal(), mcc::MccAngle{tdata.target.HA}.sexagesimal(true),
|
||||
mcc::MccAngle{tdata.LST}.sexagesimal(true)));
|
||||
logger->logError(std::format("AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
|
||||
mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
|
||||
mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
|
||||
logger.logError(std::format("AZ, ZD, ALT: {}, {}, {}", mcc::MccAngle{tdata.target.AZ}.sexagesimal(),
|
||||
mcc::MccAngle{tdata.target.ZD}.sexagesimal(),
|
||||
mcc::MccAngle{tdata.target.ALT}.sexagesimal()));
|
||||
|
||||
return MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE;
|
||||
}
|
||||
@ -207,7 +208,7 @@ public:
|
||||
}
|
||||
|
||||
if (*_stopSlewing) {
|
||||
logger->logDebug("slewing was stopped!");
|
||||
logger.logDebug("slewing was stopped!");
|
||||
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
|
||||
}
|
||||
|
||||
@ -233,18 +234,18 @@ public:
|
||||
hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_SLEWING;
|
||||
|
||||
if (*_stopSlewing) {
|
||||
logger->logDebug("slewing was stopped!");
|
||||
logger.logDebug("slewing was stopped!");
|
||||
return MccSimpleSlewingModelErrorCode::ERROR_STOPPED;
|
||||
}
|
||||
|
||||
// start slewing
|
||||
logger->logDebug(std::format("Send to hardware: X = {}, Y = {}", hw_state.X, hw_state.Y));
|
||||
logger.logDebug(std::format("Send to hardware: X = {}, Y = {}", hw_state.X, hw_state.Y));
|
||||
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
|
||||
logger->logDebug(std::format(" target: HA = {}, DEC = {}", tdata.target.HA, tdata.target.DEC_APP));
|
||||
logger->logDebug(std::format(" mount: HA = {}, DEC = {}", tdata.HA, tdata.DEC_APP));
|
||||
logger.logDebug(std::format(" target: HA = {}, DEC = {}", tdata.target.HA, tdata.target.DEC_APP));
|
||||
logger.logDebug(std::format(" mount: HA = {}, DEC = {}", tdata.HA, tdata.DEC_APP));
|
||||
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
|
||||
logger->logDebug(std::format(" target: AZ = {}, ZD = {}", tdata.target.AZ, tdata.target.ZD));
|
||||
logger->logDebug(std::format(" mount: AZ = {}, ZD = {}", tdata.AZ, tdata.ZD));
|
||||
logger.logDebug(std::format(" target: AZ = {}, ZD = {}", tdata.target.AZ, tdata.target.ZD));
|
||||
logger.logDebug(std::format(" mount: AZ = {}, ZD = {}", tdata.AZ, tdata.ZD));
|
||||
}
|
||||
|
||||
hw_err = controls->hardwareSetState(hw_state);
|
||||
@ -291,7 +292,7 @@ public:
|
||||
|
||||
distXY = mcc_compute_distance(tdata, min_time_to_pzone_in_secs, braking_accelX, braking_accelY);
|
||||
|
||||
logger->logTrace(
|
||||
logger.logTrace(
|
||||
std::format(" the distance that will be covered in the next {} seconds: X-axis: {}, Y-axis: {}",
|
||||
min_time_to_pzone_in_secs, distXY.first, distXY.second));
|
||||
|
||||
@ -310,12 +311,12 @@ public:
|
||||
cpt.Y = -DEG90INRADS;
|
||||
}
|
||||
|
||||
logger->logTrace(std::format(" target: HA = {}, DEC = {}",
|
||||
mcc::MccAngle(tdata.target.HA).sexagesimal(true),
|
||||
mcc::MccAngle(tdata.target.DEC_APP).sexagesimal()));
|
||||
logger->logTrace(std::format(" mount: HA = {}, DEC = {}",
|
||||
mcc::MccAngle(tdata.HA).sexagesimal(true),
|
||||
mcc::MccAngle(tdata.DEC_APP).sexagesimal()));
|
||||
logger.logTrace(std::format(" target: HA = {}, DEC = {}",
|
||||
mcc::MccAngle(tdata.target.HA).sexagesimal(true),
|
||||
mcc::MccAngle(tdata.target.DEC_APP).sexagesimal()));
|
||||
logger.logTrace(std::format(" mount: HA = {}, DEC = {}",
|
||||
mcc::MccAngle(tdata.HA).sexagesimal(true),
|
||||
mcc::MccAngle(tdata.DEC_APP).sexagesimal()));
|
||||
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
|
||||
cpt.X = tdata.AZ + distXY.first;
|
||||
cpt.Y = tdata.ZD + distXY.second;
|
||||
@ -328,12 +329,12 @@ public:
|
||||
cpt.Y = std::numbers::pi;
|
||||
}
|
||||
|
||||
logger->logTrace(std::format(" target: AZ = {}, ZD = {}", tdata.target.AZ, tdata.target.ZD));
|
||||
logger->logTrace(std::format(" mount: AZ = {}, ZD = {}", tdata.AZ, tdata.ZD));
|
||||
logger.logTrace(std::format(" target: AZ = {}, ZD = {}", tdata.target.AZ, tdata.target.ZD));
|
||||
logger.logTrace(std::format(" mount: AZ = {}, ZD = {}", tdata.AZ, tdata.ZD));
|
||||
}
|
||||
mcc_tp2tp(tdata.time_point, cpt.time_point);
|
||||
|
||||
logger->logTrace(std::format(" mount: speedX = {}, speedY = {}", tdata.speedX, tdata.speedY));
|
||||
logger.logTrace(std::format(" mount: speedX = {}, speedY = {}", tdata.speedX, tdata.speedY));
|
||||
|
||||
pz_err = controls->inPZone(cpt, &in_zone);
|
||||
if (pz_err) {
|
||||
@ -352,7 +353,7 @@ public:
|
||||
std::lock_guard lock{*_currentParamsMutex};
|
||||
|
||||
if ((std::chrono::steady_clock::now() - start_slewing_tp) > _currentParams.slewTimeout) {
|
||||
logger->logError("slewing process timeout!");
|
||||
logger.logError("slewing process timeout!");
|
||||
return MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT;
|
||||
}
|
||||
}
|
||||
@ -365,7 +366,7 @@ public:
|
||||
|
||||
if (slew_and_stop) { // just wait for mount to be stopped
|
||||
if (hw_state.moving_state == CONTROLS_T::hardware_moving_state_t::HW_MOVE_STOPPED) {
|
||||
logger->logInfo("mount moving state is STOPPED - exit!");
|
||||
logger.logInfo("mount moving state is STOPPED - exit!");
|
||||
break;
|
||||
}
|
||||
} else {
|
||||
@ -375,16 +376,16 @@ public:
|
||||
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
|
||||
}
|
||||
|
||||
logger->logTrace(std::format(" target-to-mount distance: {} {}",
|
||||
dist < 1.0_arcmins ? mcc::MccAngle(dist).arcsecs()
|
||||
: dist < 1.0_degs ? mcc::MccAngle(dist).arcmins()
|
||||
: mcc::MccAngle(dist).degrees(),
|
||||
dist < 1.0_arcmins ? "arcsecs"
|
||||
: dist < 1.0_degs ? "arcmins"
|
||||
: "degs"));
|
||||
logger.logTrace(std::format(" target-to-mount distance: {} {}",
|
||||
dist < 1.0_arcmins ? mcc::MccAngle(dist).arcsecs()
|
||||
: dist < 1.0_degs ? mcc::MccAngle(dist).arcmins()
|
||||
: mcc::MccAngle(dist).degrees(),
|
||||
dist < 1.0_arcmins ? "arcsecs"
|
||||
: dist < 1.0_degs ? "arcmins"
|
||||
: "degs"));
|
||||
|
||||
if (dist <= _currentParams.slewToleranceRadius) { // stop slewing and exit from cycle
|
||||
logger->logInfo("target-to-mount distance is lesser than slew tolerance radius - exit!");
|
||||
logger.logInfo("target-to-mount distance is lesser than slew tolerance radius - exit!");
|
||||
break;
|
||||
}
|
||||
|
||||
@ -393,7 +394,7 @@ public:
|
||||
hw_state.X = (double)tdata.target.X;
|
||||
hw_state.Y = (double)tdata.target.Y;
|
||||
|
||||
logger->logTrace(std::format("Send to hardware: X = {}, Y = {}", hw_state.X, hw_state.Y));
|
||||
logger.logTrace(std::format("Send to hardware: X = {}, Y = {}", hw_state.X, hw_state.Y));
|
||||
hw_err = controls->hardwareSetState(hw_state);
|
||||
if (hw_err) {
|
||||
*_stopSlewing = true;
|
||||
@ -481,7 +482,7 @@ public:
|
||||
|
||||
*_stopSlewing = true;
|
||||
|
||||
logger->logInfo("Slewing finished");
|
||||
logger.logInfo("Slewing finished");
|
||||
|
||||
return MccSimpleSlewingModelErrorCode::ERROR_OK;
|
||||
};
|
||||
|
||||
@ -135,11 +135,6 @@ public:
|
||||
_loggerSPtr->log(spdlog::level::trace, fmt, std::forward<ArgTs>(args)...);
|
||||
}
|
||||
|
||||
protected:
|
||||
std::list<std::string> _currentLogPatternRange;
|
||||
std::string _currentLogPattern;
|
||||
std::shared_ptr<spdlog::logger> _loggerSPtr;
|
||||
|
||||
|
||||
// helper methods
|
||||
|
||||
@ -180,6 +175,12 @@ protected:
|
||||
{
|
||||
addMarkToPatternIdx(std::string_view{mark}, after_idx);
|
||||
}
|
||||
|
||||
|
||||
protected:
|
||||
std::list<std::string> _currentLogPatternRange;
|
||||
std::string _currentLogPattern;
|
||||
std::shared_ptr<spdlog::logger> _loggerSPtr;
|
||||
};
|
||||
|
||||
} // namespace mcc::utils
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user