...

asibfm700/asibfm700_common.h

@@ -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

asibfm700/asibfm700_mount.cpp

@@ -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());

asibfm700/asibfm700_mount.h

@@ -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