...

asibfm700/CMakeLists.txt

@@ -8,6 +8,32 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake")
 
 
+find_package(ASIO QUIET)
+if (ASIO_FOUND)
+    # message(STATUS "ASIO library was found")
+else()
+    message(STATUS "ASIO library was not found! Try to download it!")
+
+    include(FetchContent)
+    include(ExternalProject)
+
+    FetchContent_Declare(asio_lib
+         SOURCE_DIR ${CMAKE_BINARY_DIR}/asio_lib
+         BINARY_DIR ${CMAKE_BINARY_DIR}
+         GIT_REPOSITORY "https://github.com/chriskohlhoff/asio"
+         GIT_TAG "asio-1-32-0"
+         GIT_SHALLOW TRUE
+         GIT_SUBMODULES ""
+         GIT_PROGRESS TRUE
+    )
+    FetchContent_MakeAvailable(asio_lib)
+    # FetchContent_GetProperties(asio_lib SOURCE_DIR asio_SOURCE_DIR)
+
+    set(ASIO_INSTALL_DIR ${CMAKE_BINARY_DIR}/asio_lib/asio)
+    find_package(ASIO)
+endif()
+
+
 set(ASIBFM700_LIB_SRC asibfm700_common.h asibfm700_servocontroller.h asibfm700_servocontroller.cpp)
 
 set(ASIBFM700_LIB asibfm700mount)

asibfm700/asibfm700_common.h

@@ -23,6 +23,9 @@ typedef mcc::MccDefaultPCM<asibfm700MountType> Asibfm700PCM;
 typedef mcc::MccPZoneContainer<mcc::MccTimeDuration> Asibfm700PZoneContainer;
 typedef mcc::utils::MccSpdlogLogger Asibfm700Logger;
 
+
+/*    MOUNT CONFIGURATION CLASS    */
+
 struct Asibfm700MountConfig {
     std::chrono::milliseconds hardwarePollingPeriod{100};  // main cycle period
 
@@ -32,11 +35,11 @@ struct Asibfm700MountConfig {
     double siteElevation{2070.0};                 // in meters
     double refractWavelength{0.55};               // in mkm
 
-    std::string leapSecondFilename{};
-    std::string bulletinAFilename{};
+    std::string leapSecondFilename{""};  // an empty filename means default precompiled string
+    std::string bulletinAFilename{""};   // an empty filename means default precompiled string
 
 
-    // PCM-related configuration
+    // PCM-related configuration (no B-spline term, all coefficients are zero)
     Asibfm700PCM::pcm_data_t pcmData{.type = mcc::MccDefaultPCMType::PCM_TYPE_GEOMETRY,
                                      .siteLatitude = siteLatitude,
                                      .geomCoefficients = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
@@ -53,4 +56,55 @@ struct Asibfm700MountConfig {
     mcc::MccAngle pzLimitSwitchHAMax{};      // in radians
 };
 
+
+/*    MOUNT CONFIGURATION FILE DEFAULTS    */
+
+struct Asibfm700MountConfigFileDefailts {
+    std::string hardwarePollingPeriod{"100"};  // main cycle period in millisecs
+
+    std::string siteLatitude{"43.646711"};   // site latitude in degrees or sexagesimal format
+    std::string siteLongitude{"41.440732"};  // site longitude in degrees or sexagesimal format
+    std::string siteElevation{"2070.0"};     // site elevation in meters
+
+    std::string refractWavelength{"0.55"};  //  wavelength at which refraction is calculated (in mkm)
+
+    std::string leapSecondFilename{""};  // an empty filename means default precompiled string
+    std::string bulletinAFilename{""};   // an empty filename means default precompiled string
+
+    // pointing correction model
+
+    std::string pcmType{"GEOMETRY"};
+    std::vector<std::string> pcmGeomCoeffs{"0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "0.0"};
+    std::vector<std::string> pcmBsplineDegree{"3", "3"};
+    // [0, 360]
+    std::vector<std::string> pcmBsplineXknots{"0.0",       "0.6981317", "1.3962634",  "2.0943951",  "2.7925268",
+                                              "3.4906585", "4.1887902", "4.88692191", "5.58505361", "6.28318531"};
+    // [-30, 90]
+    std::vector<std::string> pcmBsplineYknots{"-0.52359878", "-0.29088821", "-0.05817764", "0.17453293", "0.40724349",
+                                              "0.63995406",  "0.87266463",  "1.10537519",  "1.33808576", "1.57079633"};
+
+    std::vector<std::string> pcmBsplineXcoeffs{};
+    std::vector<std::string> pcmBsplineYcoeffs{};
+
+    // slewing and tracking parameters
+
+    std::string sideralRate{"15.0410686"};  // arcseconds per second
+    std::string telemetryTimeout{"3"};      // timeout for telemetry updating in seconds
+    std::string minTimeToPZone{"10"};       // minimal time in seconds to prohibited zone
+    // a time interval to update prohibited zones related quantities
+    std::string updatingPZoneInterval{"5000"};  //  in millisecs
+    std::string slewToleranceRadius{"5.0"};     // coordinates difference in arcsecs to stop slewing
+    std::string adjustCoordDiff{"50.0"};  // target-mount coordinate difference in arcsecs to start adjusting of slewing
+    std::string adjustCycleInterval{"300"};  // minimum time in millisecs between two successive adjustments
+    std::string slewTimeout{"3600"};         // slew process timeout
+    // a time shift into future to compute target position in future (UT1-scale time duration)
+    std::string timeShiftToTargetPoint{"10000"};  // in millisecs
+    std::string trackingCycleInterval{"300"};  // minimum time in millisecs between two successive tracking corrections
+
+    // prohibited zones
+    std::string pzMinAltitude{"10.0"};   // minimal altitude in degrees
+    std::string pzLimitSwitchHAMin{""};  // HA-axis limit switch minimal value
+    std::string pzLimitSwitchHAMaz{""};  // HA-axis limit switch maximal value
+};
+
 }  // namespace asibfm700