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This commit is contained in:
Timur A. Fatkhullin
352
cxx/mcc_guiding_model.h
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352
cxx/mcc_guiding_model.h
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#pragma once
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/* MOUNT CONTROL COMPONENTS LIBRARY */
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/* A VERY SIMPLE GUIDING MODEL GENERIC IMPLEMENTATION */
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#include "mcc_mount_concepts.h"
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namespace mcc
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{
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enum class MccSimpleGuidingModelErrorCode : int {
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ERROR_OK,
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ERROR_UNSUPPORTED_COORD_PAIR,
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ERROR_IN_PROHIBITED_ZONE,
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ERROR_ASTROM_COMP,
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ERROR_TELEMETRY_DATA,
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ERROR_PEC_COMP,
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ERROR_INVALID_CONTEXT_PARAM,
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};
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} // namespace mcc
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namespace std
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{
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template <>
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class is_error_code_enum<mcc::MccSimpleGuidingModelErrorCode> : public true_type
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{
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};
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} // namespace std
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namespace mcc
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{
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/* error category definition */
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// error category
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struct MccSimpleGuidingModelCategory : public std::error_category {
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MccSimpleGuidingModelCategory() : std::error_category() {}
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const char* name() const noexcept
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{
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return "ADC_GENERIC_DEVICE";
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}
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std::string message(int ec) const
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{
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MccSimpleGuidingModelErrorCode err = static_cast<MccSimpleGuidingModelErrorCode>(ec);
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switch (err) {
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case MccSimpleGuidingModelErrorCode::ERROR_OK:
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return "OK";
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case MccSimpleGuidingModelErrorCode::ERROR_ASTROM_COMP:
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return "guiding model: cannot perform astrometrical computations";
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case MccSimpleGuidingModelErrorCode::ERROR_TELEMETRY_DATA:
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return "guiding model: cannot get telemetry data";
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case MccSimpleGuidingModelErrorCode::ERROR_PEC_COMP:
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return "guiding model: cannot compute PEC corrections";
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default:
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return "UNKNOWN";
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}
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}
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static const MccSimpleGuidingModelCategory& get()
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{
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static const MccSimpleGuidingModelCategory constInst;
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return constInst;
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}
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};
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inline std::error_code make_error_code(MccSimpleGuidingModelErrorCode ec)
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{
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return std::error_code(static_cast<int>(ec), MccSimpleGuidingModelCategory::get());
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}
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/* */
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class MccCelestialPointTrack final
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{
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public:
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template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_time_duration_c DT>
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MccCelestialPointTrack(ASTROM_ENGINE_T& astrom_engine,
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typename ASTROM_ENGINE_T::juldate_t start,
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DT step,
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size_t Npoints)
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{
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const auto p_astrom_engine = &astrom_engine;
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_compFunc = []() {
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};
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}
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private:
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std::function<size_t()> _compFunc;
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};
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/* */
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template <traits::mcc_logger_c LoggerT = MccNullLogger>
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class MccSimpleGuidingModel : public LoggerT
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{
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template <traits::mcc_mount_controls_c T>
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using coord_t = typename decltype(T::astrometryEngine)::coord_t;
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public:
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using LoggerT::logDebug;
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using LoggerT::logError;
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using LoggerT::logInfo;
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using LoggerT::logMessage;
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using LoggerT::logWarn;
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typedef std::error_code error_t;
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struct guiding_context_t {
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double corrThresh{MccAngle("00:00:00.2"_dms)}; // correction threshold
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std::chrono::duration<double> predictedTrackDuration{10.0}; // 10 seconds
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std::chrono::duration<double> predictedTrackResolution{0.1}; // 0.1 seconds
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};
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struct guiding_point_t {
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typedef double coord_t;
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mcc::MccCoordPairKind coordPairKind{mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS};
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coord_t x, y;
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};
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template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T, typename... LoggerCtorArgTs>
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MccSimpleGuidingModel(MOUNT_CONTROLS_T& mount_controls, LoggerCtorArgTs&&... ctor_args)
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requires(!std::same_as<LoggerT, MccNullLogger>)
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: LoggerT(std::forward<LoggerCtorArgTs>(ctor_args)...)
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{
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logDebug(std::format("Create 'MccSimpleGuidingModel' class instance ({})", (void*)this));
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init(mount_controls);
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}
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template <traits::mcc_mount_controls_c MOUNT_CONTROLS_T>
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MccSimpleGuidingModel(MOUNT_CONTROLS_T& mount_controls)
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requires(std::same_as<LoggerT, MccNullLogger>)
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{
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init(mount_controls);
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}
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virtual ~MccSimpleGuidingModel()
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{
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logDebug(std::format("Delete 'MccSimpleGuidingModel' class instance ({})", (void*)this));
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}
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error_t guiding(guiding_point_t guiding_point) {}
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protected:
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std::function<error_t()> _guidingFunc{};
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std::atomic_bool _doCorrection{true};
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error_t init(auto& mount_controls, guiding_context_t context)
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{
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// deduce controls types
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using astrom_engine_t = decltype(mount_controls.astrometryEngine);
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using hardware_t = decltype(mount_controls.hardware);
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using pec_t = decltype(mount_controls.PEC);
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using telemetry_t = decltype(mount_controls.telemetry);
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using tpl_pz_t = decltype(mount_controls.prohibitedZones);
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static constexpr size_t Nzones = std::tuple_size_v<tpl_pz_t>;
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size_t predicted_Npoints = context.predictedTrackDuration / context.predictedTrackResolution;
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if (predicted_Npoints == 0) {
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return MccSimpleGuidingModelErrorCode::ERROR_INVALID_CONTEXT_PARAM;
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}
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const auto p_mount_controls = &mount_controls;
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_guidingFunc = [p_mount_controls, context = std::move(context), predicted_Npoints](
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this auto&& self, guiding_point_t guiding_point) {
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auto& astrom_engine = p_mount_controls->astrometryEngine;
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auto& hardware = p_mount_controls->hardware;
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auto& pec = p_mount_controls->PEC;
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auto& telemetry = p_mount_controls->telemetry;
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using coord_t = typename astrom_engine_t::coord_t;
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using jd_t = typename astrom_engine_t::juldate_t;
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jd_t jd;
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typename hardware_t::axes_pos_t ax_pos;
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error_t res_err;
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typename astrom_engine_t::error_t ast_err;
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typename pec_t::error_t pec_err;
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typename telemetry_t::error_t t_err;
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typename telemetry_t::mount_telemetry_data_t t_data;
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// first, compute ICRS coordinates of given guiding point
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coord_t ra_icrs, dec_icrs;
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const auto p_astrom_engine = &astrom_engine;
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const auto p_pec = &pec;
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auto predictedPos = [p_astrom_engine, predicted_Npoints, &context, &ra_icrs, &dec_icrs](
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jd_t start, std::vector<guiding_point_t>& track) {
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if (track.size() < predicted_Npoints) {
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track.resize(predicted_Npoints);
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}
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coord_t ha, ra_app, dec_app, az, alt, eo;
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typename astrom_engine_t::error_t ast_err;
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typename pec_t::error_t pec_err;
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typename pec_t::pec_result_t pec_res;
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for (auto& g_point : track) {
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ast_err = p_astrom_engine->icrs2obs(ra_icrs, dec_icrs, start, ra_app, dec_app, ha, az, alt, eo);
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if (ast_err) {
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if constexpr (std::same_as<decltype(ast_err), error_t>) {
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logError(
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std::format("An error occured while performing astrometry computations: code = {} ({})",
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ast_err.value(), ast_err.message()));
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return ast_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(ast_err)>) {
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logError(std::format(
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"An error occured while performing astrometry computations: code = {}", ast_err));
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}
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return MccSimpleGuidingModelErrorCode::ERROR_ASTROM_COMP;
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}
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}
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if constexpr (mccIsEquatorialMount(pec_t::mountType)) { // use of HA and DEC
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g_point.coordPairKind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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g_point.x = ha;
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g_point.y = dec_app;
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} else if constexpr (mccIsAltAzMount(pec_t::mountType)) { // use of Az and Alt
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g_point.coordPairKind = MccCoordPairKind::COORDS_KIND_AZALT;
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g_point.x = az;
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g_point.y = alt;
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} else {
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static_assert(false, "UNKNOWN MOUNT TYPE!");
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}
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start.mjd += context.predictedTrackResolution.count() / 86400.0;
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}
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return MccSimpleGuidingModelErrorCode::ERROR_OK;
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}; // end of predictedPos lambda
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if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_XY) {
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typename pec_t::pec_result_t pec_res;
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pec_err = pec.compute(guiding_point.x, guiding_point.y, pec_res);
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if (pec_err) {
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if constexpr (std::same_as<decltype(pec_err), error_t>) {
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logError(
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std::format("An PEC error occured: code = {} ({})", pec_err.value(), pec_err.message()));
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return pec_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(pec_err)>) {
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logError(std::format("An PEC error occured: code = {}", pec_err));
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}
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return MccSimpleGuidingModelErrorCode::ERROR_PEC_COMP;
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}
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}
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guiding_point.x += pec_res.dx; // app HA
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guiding_point.y += pec_res.dy; // app DEC
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guiding_point.coordPairKind = MccCoordPairKind::COORDS_KIND_HADEC_APP;
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res_err = self(std::move(guiding_point));
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if (res_err) {
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return res_err;
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}
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} else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP) {
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} else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_APP) {
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} else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZALT) {
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} else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_AZZD) {
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} else if (guiding_point.coordPairKind == mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
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ra_icrs = guiding_point.x;
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dec_icrs = guiding_point.y;
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} else {
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return MccSimpleGuidingModelErrorCode::ERROR_UNSUPPORTED_COORD_PAIR;
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}
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if (guiding_point.coordPairKind != mcc::MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
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ast_err = astrom_engine.greg2jul(std::chrono::system_clock::now(), jd);
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if (!ast_err) {
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ast_err = astrom_engine.obs2icrs(guiding_point.coordPairKind, guiding_point.x, guiding_point.y, jd,
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ra_icrs, dec_icrs);
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}
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if (ast_err) {
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if constexpr (std::same_as<decltype(ast_err), error_t>) {
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logError(
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std::format("An error occured while performing astrometry computations: code = {} ({})",
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ast_err.value(), ast_err.message()));
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return ast_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(ast_err)>) {
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logError(std::format("An error occured while performing astrometry computations: code = {}",
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ast_err));
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}
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return MccSimpleGuidingModelErrorCode::ERROR_ASTROM_COMP;
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}
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}
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}
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coord_t ha, ra_app, dec_app, az, alt, eo;
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while (true) {
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// check prohibited zones ...
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ast_err = astrom_engine.greg2jul(std::chrono::system_clock::now(), jd);
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ast_err = astrom_engine.icrs2obs(ra_icrs, dec_icrs, jd, ra_app, dec_app, ha, az, alt, eo);
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t_err = telemetry.data(t_data);
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if (t_err) {
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if constexpr (std::same_as<decltype(t_err), error_t>) {
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logError(
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std::format("An telemetry error occured: code = {} ({})", t_err.value(), t_err.message()));
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return t_err;
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} else {
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if constexpr (traits::mcc_formattable<decltype(t_err)>) {
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logError(std::format("An telemetry error occured: code = {}", t_err));
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}
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return MccSimpleGuidingModelErrorCode::ERROR_TELEMETRY_DATA;
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}
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}
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// compare t_data with computed coordinates ...
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}
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return MccSimpleGuidingModelErrorCode::ERROR_OK;
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};
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}
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};
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} // namespace mcc
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