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This commit is contained in:
Timur A. Fatkhullin 2025-09-17 18:21:32 +03:00
parent 281ceacf89
commit 1087e043a8
9 changed files with 86 additions and 27 deletions
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16
asibfm700/asibfm700_common.h
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@ -27,10 +27,10 @@ struct Asibfm700MountConfig {
std::chrono::milliseconds hardwarePollingPeriod{100}; // main cycle period
// CCTE-related configuration
double siteLatitude{43.646711_degs};
double siteLongitude{41.440732_degs};
double siteElevation{2100.0};
double refractWavelength{0.55};
mcc::MccAngle siteLatitude{43.646711_degs}; // in radians
mcc::MccAngle siteLongitude{41.440732_degs}; // in radians
double siteElevation{2070.0}; // in meters
double refractWavelength{0.55}; // in mkm
std::string leapSecondFilename{};
std::string bulletinAFilename{};
@ -41,8 +41,16 @@ struct Asibfm700MountConfig {
.siteLatitude = siteLatitude,
.geomCoefficients = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
// servo controller configuration
AsibFM700ServoController::hardware_config_t servoControllerConfig{};
// slew and track parameters
mcc::MccSimpleMovingModelParams movingModelParams{};
// prohibited zones parameters
mcc::MccAngle pzMinAltitude{10.0_degs}; // in radians
mcc::MccAngle pzLimitSwitchHAMin{}; // in radians
mcc::MccAngle pzLimitSwitchHAMax{}; // in radians
};
} // namespace asibfm700

24
asibfm700/asibfm700_mount.cpp
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@ -1,5 +1,7 @@
#include "asibfm700_mount.h"
#include <mcc_pzone.h>
namespace asibfm700
{
@ -20,8 +22,30 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config,
Asibfm700StartState{})
{
logDebug("Create Asibfm700Mount class instance ({})", this->getThreadId());
logInfo("Init AstroSib FM-700 mount with configuration:");
logInfo(" site latitude: {}", config.siteLatitude.sexagesimal());
logInfo(" site longitude: {}", config.siteLongitude.sexagesimal());
logInfo(" site elevation: {} meters", config.siteElevation);
logInfo(" refraction wavelength: {} mkm", config.refractWavelength);
logInfo(" leap seconds filename: {}", config.leapSecondFilename);
logInfo(" IERS Bulletin A filename: {}", config.bulletinAFilename);
logInfo("Add prohibited zones ...");
logInfo("Add MccAltLimitPZ zone: min alt = {}, lat = {}", config.pzMinAltitude.degrees(),
config.siteLatitude.degrees());
addPZone(mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>{config.pzMinAltitude, config.siteLatitude, this});
logInfo("Add MccAxisLimitSwitchPZ zone: min value = {}, max value = {}", config.pzLimitSwitchHAMin,
config.pzLimitSwitchHAMax);
size_t pz_num = addPZone(mcc::MccAxisLimitSwitchPZ<mcc::MccCoordKind::COORDS_KIND_HA>{
config.pzLimitSwitchHAMin, config.pzLimitSwitchHAMax, this});
logInfo("{} prohibited zones were added", pz_num);
}
Asibfm700Mount::~Asibfm700Mount()
{
logDebug("Delete Asibfm700Mount class instance ({})", this->getThreadId());

3
asibfm700/asibfm700_mount.h
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@ -93,6 +93,8 @@ public:
using Asibfm700Logger::logInfo;
using Asibfm700Logger::logWarn;
// using Asibfm700PZoneContainer::addPZone;
Asibfm700Mount(Asibfm700MountConfig const& config,
std::shared_ptr<spdlog::logger> logger,
const auto& pattern_range = mcc::utils::MccSpdlogLogger::LOGGER_DEFAULT_FORMAT);
@ -104,6 +106,5 @@ static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");
static_assert(mcc::mcc_generic_mount_c<Asibfm700Mount>, "");
// static_assert(mcc::mcc_generic_fsm_log_mount_c<Asibfm700Mount>, "");
} // namespace asibfm700

22
mcc/mcc_generic_mount.h
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@ -279,7 +279,18 @@ protected:
struct MccGenericFsmMountSlewEvent : MccGenericFsmMountBaseEvent {
static constexpr std::string_view ID{"GENERIC-MOUNT-SLEW-EVENT"};
MccGenericFsmMountSlewEvent(MccGenericFsmMount* mount) : MccGenericFsmMountBaseEvent(mount) {}
MccGenericFsmMountSlewEvent(MccGenericFsmMount* mount, bool slew_and_stop)
: MccGenericFsmMountBaseEvent(mount), _slewAndStop(slew_and_stop)
{
}
bool eventData() const noexcept
{
return _slewAndStop;
}
protected:
bool _slewAndStop{};
};
struct MccGenericFsmMountTrackEvent : MccGenericFsmMountBaseEvent {
@ -473,9 +484,8 @@ protected:
}
MccGenericFsmMount::slewing_params_t params;
mount_ptr->getSlewingParams(&params);
if (params.slewAndStop) { // after slewing switch to IDLE state
bool slew_and_stop = event.eventData();
if (slew_and_stop) { // after slewing switch to IDLE state
mount_ptr->dispatchEvent(MccGenericFsmMountIdleEvent{mount_ptr});
} else { // after slewing switch to tracking state
mount_ptr->dispatchEvent(MccGenericFsmMountTrackEvent{mount_ptr});
@ -674,10 +684,10 @@ public:
return _lastError;
}
auto slewToTarget()
auto slewToTarget(bool slew_and_stop = false)
{
try {
this->dispatchEvent(MccGenericFsmMountSlewEvent{this});
this->dispatchEvent(MccGenericFsmMountSlewEvent{this, slew_and_stop});
} catch (std::system_error const& exc) {
if (exc.code().category() == fsm::MccFiniteStateMachineCategory::get()) {
_lastError = MccGenericFsmMountErrorCode::ERROR_INVALID_OPERATION;

18
mcc/mcc_generics.h
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@ -836,14 +836,20 @@ concept mcc_slewing_model_c = requires(T t) {
// requires mcc_error_c<typename T::error_t>;
// a class of slewing process parameters
requires requires(typename T::slewing_params_t pars) {
// slew mount to target and stop
requires std::convertible_to<decltype(pars.slewAndStop), bool>;
};
typename T::slewing_params_t;
// requires requires(typename T::slewing_params_t pars) {
// // slew mount to target and stop
// requires std::convertible_to<decltype(pars.slewAndStop), bool>;
// };
// { t.slewToTarget() } -> std::same_as<typename T::error_t>;
// { t.stopSlewing() } -> std::same_as<typename T::error_t>;
{ t.slewToTarget() } -> mcc_error_c;
// the method signature:
// slewToTarget(bool slew_and_stop)
// slew_and_stop == true, slew mount and stop
// slew_and_stop == false, slew mount and track
{ t.slewToTarget(std::declval<bool>()) } -> mcc_error_c;
{ t.stopSlewing() } -> mcc_error_c;
{ t.setSlewingParams(std::declval<typename T::slewing_params_t>()) } -> mcc_error_c;
@ -912,7 +918,7 @@ template <typename T>
concept mcc_generic_mount_c = mcc_telemetry_c<T> && mcc_pzone_container_c<T> && requires(T t) {
// requires mcc_error_c<typename T::error_t>;
// slew mount to target (target coordinates were defined in telemetry data)
// slew mount to target (it is assumed that the target coordinates are determined in the telemetry data)
{ t.slewToTarget() };
// { t.slewToTarget() } -> std::same_as<typename T::error_t>;

15
mcc/mcc_pzone.h
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@ -12,7 +12,7 @@ namespace mcc
{
enum MccAltLimitPZErrorCode : int { ERROR_OK, ERROR_NULLPTR, ERROR_COORD_TRANSFROM, ERROR_PCM_COMP };
enum class MccAltLimitPZErrorCode : int { ERROR_OK, ERROR_NULLPTR, ERROR_COORD_TRANSFROM, ERROR_PCM_COMP };
} // namespace mcc
@ -621,7 +621,7 @@ public:
}
consteval std::string_view name()
consteval std::string_view name() const
{
return axisKind == MccCoordKind::COORDS_KIND_AZ ? "AZ_AXIS-LIMITSWITCH_ZONE"
: axisKind == MccCoordKind::COORDS_KIND_HA ? "HA_AXIS-LIMITSWITCH_ZONE"
@ -750,6 +750,17 @@ public:
requires((mcc_eqt_hrz_coord_c<InputT> || mcc_celestial_point_c<InputT>) &&
(mcc_eqt_hrz_coord_c<ResultT> || mcc_celestial_point_c<ResultT>))
{
if (point == nullptr) {
return MccAltLimitPZErrorCode::ERROR_NULLPTR;
}
point->X = _minLimit;
// if constexpr (mcc_eqt_hrz_coord_c<ResultT>) {
// point->X = _minLimit;
// } else { // mcc_celestial_point_c
// point->X = _minLimit;
// }
return MccAltLimitPZErrorCode::ERROR_OK;
}

2
mcc/mcc_pzone_container.h
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@ -1,7 +1,5 @@
#pragma once
#pragma once
/* MOUNT CONTROL COMPONENTS LIBRARY */

11
mcc/mcc_slewing_model.h
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@ -122,7 +122,7 @@ public:
{
*_stopSlewing = true;
_slewingFunc = [controls, this]() -> error_t {
_slewingFunc = [controls, this](bool slew_and_stop) -> error_t {
// first, check target coordinates
typename CONTROLS_T::error_t t_err;
MccTelemetryData tdata;
@ -278,7 +278,8 @@ public:
{
std::lock_guard lock{*_currentParamsMutex};
if (adjust_mode && !_currentParams.slewAndStop) {
// if (adjust_mode && !_currentParams.slewAndStop) {
if (adjust_mode && !slew_and_stop) {
// do not allow mount speed fall below sideral
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
// turn on sideral rate only if the current position point catches up with the target
@ -359,7 +360,7 @@ public:
virtual ~MccSimpleSlewingModel() = default;
error_t slewToTarget()
error_t slewToTarget(bool slew_and_stop = false)
{
if (!(*_stopSlewing)) {
return MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW;
@ -367,7 +368,7 @@ public:
*_stopSlewing = false;
return _slewingFunc();
return _slewingFunc(slew_and_stop);
}
@ -401,7 +402,7 @@ public:
}
protected:
std::function<error_t()> _slewingFunc{};
std::function<error_t(bool)> _slewingFunc{};
std::unique_ptr<std::atomic_bool> _stopSlewing;
slewing_params_t _currentParams{};

2
mcc/mcc_telemetry.h
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@ -16,7 +16,7 @@
namespace mcc
{
enum MccTelemetryErrorCode : int {
enum class MccTelemetryErrorCode : int {
ERROR_OK,
ERROR_NULLPTR,
ERROR_COORD_TRANSFORM,