diff --git a/asibfm700/asibfm700_mount.cpp b/asibfm700/asibfm700_mount.cpp index 4772d52..a5d928a 100644 --- a/asibfm700/asibfm700_mount.cpp +++ b/asibfm700/asibfm700_mount.cpp @@ -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{}, diff --git a/mcc/mcc_slewing_model.h b/mcc/mcc_slewing_model.h index 92b8d60..2b8dd65 100644 --- a/mcc/mcc_slewing_model.h +++ b/mcc/mcc_slewing_model.h @@ -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 - 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; }; diff --git a/mcc/mcc_spdlog.h b/mcc/mcc_spdlog.h index 7d3789c..3fe995c 100644 --- a/mcc/mcc_spdlog.h +++ b/mcc/mcc_spdlog.h @@ -135,11 +135,6 @@ public: _loggerSPtr->log(spdlog::level::trace, fmt, std::forward(args)...); } -protected: - std::list _currentLogPatternRange; - std::string _currentLogPattern; - std::shared_ptr _loggerSPtr; - // helper methods @@ -180,6 +175,12 @@ protected: { addMarkToPatternIdx(std::string_view{mark}, after_idx); } + + +protected: + std::list _currentLogPatternRange; + std::string _currentLogPattern; + std::shared_ptr _loggerSPtr; }; } // namespace mcc::utils