eddy/mountcontrol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

...

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

22
mcc/mcc_generic_mount.h
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -1,7 +1,5 @@
#pragma once
#pragma once
/* MOUNT CONTROL COMPONENTS LIBRARY */

11
mcc/mcc_slewing_model.h
View File

@@ -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
View File

@@ -16,7 +16,7 @@
namespace mcc
{
enum MccTelemetryErrorCode : int {
enum class MccTelemetryErrorCode : int {
ERROR_OK,
ERROR_NULLPTR,
ERROR_COORD_TRANSFORM,