...

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};
+    mcc::MccAngle siteLatitude{43.646711_degs};   // in radians
-    double siteLongitude{41.440732_degs};
+    mcc::MccAngle siteLongitude{41.440732_degs};  // in radians
-    double siteElevation{2100.0};
+    double siteElevation{2070.0};                 // in meters
-    double refractWavelength{0.55};
+    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

mcc/mcc_generic_mount.h

@@ -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;
+            bool slew_and_stop = event.eventData();
-            mount_ptr->getSlewingParams(&params);
+            if (slew_and_stop) {  // after slewing switch to IDLE state
-            if (params.slewAndStop) {  // 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;

mcc/mcc_generics.h

@@ -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) {
+    typename T::slewing_params_t;
-        // slew mount to target and stop
+    // requires requires(typename T::slewing_params_t pars) {
-        requires std::convertible_to<decltype(pars.slewAndStop), bool>;
+    //     // 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>;
 

mcc/mcc_pzone.h

@@ -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;
     }
 

mcc/mcc_pzone_container.h

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

mcc/mcc_slewing_model.h

@@ -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{};

mcc/mcc_telemetry.h

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