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This commit is contained in:
Timur A. Fatkhullin 2025-07-12 13:43:53 +03:00
parent faa57b22c3
commit 1b1f0b29a8
3 changed files with 74 additions and 62 deletions
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73
cxx/mcc_mount.h
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@ -125,43 +125,52 @@ public:
auto zone_ptr = std::make_shared<ZT>(std::move(zone)); auto zone_ptr = std::make_shared<ZT>(std::move(zone));
// typename ZT::coord_t x, y;
if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_AZALT) { // azimuth and altitude if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_AZALT) { // azimuth and altitude
_pzInZoneFunc.emplace_back([zone_ptr, this]() { _pzFuncs.emplace_back({.coordPairKind = ZT::preferedCoordKind,
auto tmry_data = _mountTelemetry(); .inZoneFunc =
[zone_ptr, this]() {
auto tmry_data = _mountTelemetry.data();
return zone_ptr->inZone(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc); return zone_ptr->inZone(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc);
}); },
.timeToFunc =
[zone_ptr, this]() {
auto tmry_data = _mountTelemetry.data();
_pzTimeToFunc.emplace_back([zone_ptr, this]() { return zone_ptr->timeTo(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc);
auto tmry_data = _mountTelemetry(); },
.timeFromFunc =
[zone_ptr, this]() {
auto tmry_data = _mountTelemetry.data();
return zone_ptr->timeTo(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc); return zone_ptr->timeFrom(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc);
}); }});
_pzTimeFromFunc.emplace_back([zone_ptr, this]() {
auto tmry_data = _mountTelemetry();
return zone_ptr->timeFrom(tmry_data.mntAZ, tmry_data.mntALT, tmry_data.utc);
});
} else if constexpr (ZT::preferedCoordKind == } else if constexpr (ZT::preferedCoordKind ==
MccCoordPairKind::COORDS_KIND_AZZD) { // azimuth and zenithal distance MccCoordPairKind::COORDS_KIND_AZZD) { // azimuth and zenithal distance
_pzInZoneFunc.emplace_back([zone_ptr, this]() { _pzFuncs.emplace_back(
auto tmry_data = _mountTelemetry(); {.coordPairKind = ZT::preferedCoordKind,
.inZoneFunc =
[zone_ptr, this]() {
auto tmry_data = _mountTelemetry.data();
return zone_ptr->inZone(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc); return zone_ptr->inZone(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc);
}); },
.timeToFunc =
[zone_ptr, this]() {
auto tmry_data = _mountTelemetry.data();
_pzTimeToFunc.emplace_back([zone_ptr, this]() { return zone_ptr->timeTo(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc);
auto tmry_data = _mountTelemetry(); },
.timeFromFunc =
[zone_ptr, this]() {
auto tmry_data = _mountTelemetry.data();
return zone_ptr->timeTo(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc); return zone_ptr->timeFrom(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc);
}); }});
_pzTimeFromFunc.emplace_back([zone_ptr, this]() {
auto tmry_data = _mountTelemetry();
return zone_ptr->timeFrom(tmry_data.mntAZ, pi2 - tmry_data.mntALT, tmry_data.utc);
});
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) { } else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) { } else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
} else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) { } else if constexpr (ZT::preferedCoordKind == MccCoordPairKind::COORDS_KIND_RADEC_ICRS) {
@ -171,18 +180,16 @@ public:
} }
if constexpr (sizeof...(ZTs)) { if constexpr (sizeof...(ZTs)) {
psAddZone(std::move(zones)...); pzAddZone(std::move(zones)...);
} }
return _pzInZoneFunc.size(); return _pzFuncs.size();
} }
// delete all zones from mount control system // delete all zones from mount control system
void pzClearZone() void pzClearZone()
{ {
_pzInZoneFunc.clear(); _pzFuncs.clear();
_pzTimeToFunc.clear();
_pzTimeFromFunc.clear();
} }
template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT> template <std::derived_from<MccAngle> XT, std::derived_from<MccAngle> YT>
@ -197,10 +204,6 @@ protected:
// a type to which the result of calling prohibited zone class methods 'timeTo' and 'timeFrom' will be converted // a type to which the result of calling prohibited zone class methods 'timeTo' and 'timeFrom' will be converted
typedef std::chrono::duration<double> pz_duration_t; // seconds as floating-point number typedef std::chrono::duration<double> pz_duration_t; // seconds as floating-point number
std::vector<std::function<bool()>> _pzInZoneFunc{};
std::vector<std::function<pz_duration_t()>> _pzTimeToFunc{};
std::vector<std::function<pz_duration_t()>> _pzTimeFromFunc{};
typedef std::function<bool()> pz_inzone_func_t; typedef std::function<bool()> pz_inzone_func_t;
typedef std::function<pz_duration_t()> pz_timeto_func_t; typedef std::function<pz_duration_t()> pz_timeto_func_t;
typedef std::function<pz_duration_t()> pz_timefrom_func_t; typedef std::function<pz_duration_t()> pz_timefrom_func_t;

33
cxx/mcc_mount_concepts.h
View File

@ -57,6 +57,8 @@ static consteval bool mccIsAltAzMount(const MccMountType type)
/* MOUNT COMPONENTS CONCEPTS */
namespace mcc::traits namespace mcc::traits
{ {
@ -125,7 +127,7 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
t.greg2jul(std::declval<typename T::time_point_t>(), std::declval<typename T::juldate_t&>()) t.greg2jul(std::declval<typename T::time_point_t>(), std::declval<typename T::juldate_t&>())
} -> std::same_as<typename T::error_t>; } -> std::same_as<typename T::error_t>;
// apparent sideral time: apparentSiderTime(jd, gst, islocal) // apparent sideral time: apparentSiderTime(jd, st, islocal)
// if islocal == false then the method must return the Greenwich apparent sideral time, otherwise - local one // if islocal == false then the method must return the Greenwich apparent sideral time, otherwise - local one
{ {
t.apparentSiderTime(std::declval<typename T::juldate_t>(), std::declval<typename T::sideral_time_t&>(), t.apparentSiderTime(std::declval<typename T::juldate_t>(), std::declval<typename T::sideral_time_t&>(),
@ -182,7 +184,7 @@ concept mcc_mount_pec_c = requires(T t, const T t_const) {
typename T::coord_t; typename T::coord_t;
typename T::pec_data_t; typename T::pec_data_t;
// at least contains .dx and .dy fields // a class which contains at least .dx and .dy public fields
requires requires(typename T::pec_result_t res) { requires requires(typename T::pec_result_t res) {
requires std::same_as<decltype(res.dx), typename T::coord_t>; requires std::same_as<decltype(res.dx), typename T::coord_t>;
requires std::same_as<decltype(res.dy), typename T::coord_t>; requires std::same_as<decltype(res.dy), typename T::coord_t>;
@ -203,26 +205,36 @@ concept mcc_mount_pec_c = requires(T t, const T t_const) {
template <typename T> template <typename T>
concept mcc_mount_telemetry_c = requires(T t, const T t_const) { concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
typename T::error_t; typename T::error_t;
typename T::mount_telemetry_data_t;
// a class which contains celestial (equatorial and horizontal) coordinates
requires requires(typename T::mount_telemetry_data_t telemetry) {
typename T::mount_telemetry_data_t::coord_t;
requires std::same_as<decltype(telemetry.mntRA), typename T::mount_telemetry_data_t::coord_t>; // apparent RA
requires std::same_as<decltype(telemetry.mntDEC), typename T::mount_telemetry_data_t::coord_t>; // apparent DEC
requires std::same_as<decltype(telemetry.mntHA), typename T::mount_telemetry_data_t::coord_t>; // hour angle
requires std::same_as<decltype(telemetry.mntAZ), typename T::mount_telemetry_data_t::coord_t>; // azimuth
requires std::same_as<decltype(telemetry.mntALT), typename T::mount_telemetry_data_t::coord_t>; // altitude
};
{ t_const.errorString(std::declval<typename T::error_t>()) } -> mcc_formattable; { t_const.errorString(std::declval<typename T::error_t>()) } -> mcc_formattable;
{ t.update() } -> std::same_as<typename T::error_t>; { t.update() } -> std::same_as<typename T::error_t>;
{ t_const.data() } -> std::same_as<typename T::mount_telemetry_data_t>; { t.data() } -> std::same_as<typename T::mount_telemetry_data_t>;
}; };
/* MOUNT PROHIBITED ZONE */ /* MOUNT PROHIBITED ZONE */
template <typename T> template <typename T>
concept mcc_prohibited_zone_c = std::movable<T> && requires(T t, const T t_const) { concept mcc_prohibited_zone_c = std::movable<T> && requires(T t, const T t_const) {
typename T::coord_t; typename T::coord_t;
typename T::time_point_t; typename T::time_point_t;
// the type 'T' must define static constexpr member of type MccCoordPairKind // the type 'T' must define a static constexpr member of type MccCoordPairKind
// to declarate type of coordinate pair used to describe the zone. // to declarate type of coordinate pair used to describe the zone.
// This coordinate pair must be used as input in the class methods. // This coordinate pair must be used as input in the 'inZone' class method.
requires requires { requires requires {
requires std::same_as<decltype(T::zoneCoordPairKind), const MccCoordPairKind>; requires std::same_as<decltype(T::zoneCoordPairKind), const MccCoordPairKind>;
[]() { []() {
@ -234,14 +246,13 @@ concept mcc_prohibited_zone_c = std::movable<T> && requires(T t, const T t_const
{ t_const.name() } -> mcc_formattable; { t_const.name() } -> mcc_formattable;
// check if given coordinates are in the zone at given time point // check if given coordinates are in the zone
{ { t.inZone(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>()) } -> std::convertible_to<bool>;
t.inZone(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
std::declval<typename T::time_point_t>())
} -> std::convertible_to<bool>;
// for given coordinates and time the method computes a time to reach the zone // for given coordinates and time the method computes a time to reach the zone
// implementation of the method must assume that input coordinates are apparent RA and DEC at given time point,
// while the time point is one from which computation must be performed (e.g. current time moment)
{ {
t.timeTo(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(), t.timeTo(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
std::declval<typename T::time_point_t>()) std::declval<typename T::time_point_t>())

30
cxx/mcc_mount_telemetry.h
View File

@ -53,7 +53,7 @@ public:
// mount current telemetry data: time, position and related quantities // mount current telemetry data: time, position and related quantities
struct mount_telemetry_data_t { struct mount_telemetry_data_t {
typedef typename astrom_engine_t::coord_t mnt_coord_t; typedef typename astrom_engine_t::coord_t coord_t;
// time-related // time-related
typename astrom_engine_t::time_point_t utc; // time point of measurements, UTC typename astrom_engine_t::time_point_t utc; // time point of measurements, UTC
@ -63,29 +63,29 @@ public:
// typename astrom_engine_t::time_point_t tt; // Terrestial time // typename astrom_engine_t::time_point_t tt; // Terrestial time
// apparent target (user-input) current coordinates (in radians) // apparent target (user-input) current coordinates (in radians)
mnt_coord_t tagRA, tagDEC; coord_t tagRA, tagDEC;
mnt_coord_t tagHA; coord_t tagHA;
mnt_coord_t tagAZ, tagALT; coord_t tagAZ, tagALT;
mnt_coord_t tagPA; // paralactic angle coord_t tagPA; // paralactic angle
// encoder-measured current mount coordinates (in radians) // encoder-measured current mount coordinates (in radians)
mnt_coord_t mntRA, mntDEC; coord_t mntRA, mntDEC;
mnt_coord_t mntHA; coord_t mntHA;
mnt_coord_t mntAZ, mntALT; coord_t mntAZ, mntALT;
typename astrom_engine_t::pa_t mntPA; typename astrom_engine_t::pa_t mntPA;
// encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s) // encoder-measured (non-corrected for PCS) current mount position and moving speed (in radians, radians/s)
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
mnt_coord_t mntPosX, mntPosY; coord_t mntPosX, mntPosY;
// current refraction coefficients // current refraction coefficients
typename pec_t::pec_result_t currRefrCoeffs; typename pec_t::pec_result_t currRefrCoeffs;
// current refraction correction (for mntALT) // current refraction correction (for mntALT)
mnt_coord_t currRefr; coord_t currRefr;
// PEC (pointing error correction): // PEC (pointing error correction):
// X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one // X - HA, Y - DEC for equatorial-type mount; X - AZ, Y - ALT for horizontal-type one
mnt_coord_t pecX, pecY; coord_t pecX, pecY;
}; };
MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware) MccMountTelemetry(astrom_engine_t& astrom_engine, pec_t& pec, hardware_t& hardware)
@ -189,13 +189,11 @@ public:
return TEL_ERROR_OK; return TEL_ERROR_OK;
} }
mount_telemetry_data_t data(this auto&& self) mount_telemetry_data_t data()
{ {
using self_t = decltype(self); std::lock_guard lock{_updateMutex};
std::lock_guard lock{std::forward<self_t>(self)._updateMutex}; return std::move(_data);
return std::move(std::forward<self_t>(self)._data);
} }