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Asibfm700Mount is now MccGenericMount (not MccGenericFsmMount)

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fix mount initialization (add EEPROM reading, assign correponded
mount config items)
rewrite computing distance to pzones in slewing mode (add braking
aceleration)
add more informative errors description for serialization (network
protocol)
This commit is contained in:
Timur A. Fatkhullin
2025-11-15 16:01:42 +03:00
parent 9e8a7a62c9
commit 1c774d2d69
8 changed files with 250 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files

110
asibfm700/asibfm700_mount.cpp
View File

@@ -15,13 +15,19 @@ Asibfm700Mount::Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_p
.lon = config.siteLongitude(),
.elev = config.siteElevation()}),
Asibfm700PCM(config.pcmData()),
base_gm_class_t(Asibfm700StartState{},
std::make_tuple(config.servoControllerConfig()),
std::make_tuple(this),
std::make_tuple(),
std::make_tuple(this),
std::make_tuple(this),
std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
gm_class_t(std::make_tuple(config.servoControllerConfig()),
std::make_tuple(this),
std::make_tuple(),
std::make_tuple(this),
std::make_tuple(this),
std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
// base_gm_class_t(Asibfm700StartState{},
// std::make_tuple(config.servoControllerConfig()),
// std::make_tuple(this),
// std::make_tuple(),
// std::make_tuple(this),
// std::make_tuple(this),
// std::make_tuple(logger, Asibfm700Logger::LOGGER_DEFAULT_FORMAT)),
_mountConfig(config),
_mountConfigMutex(new std::mutex)
{
@@ -99,23 +105,6 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
auto mpars = _mountConfig.movingModelParams();
logInfo("");
logInfo("Setup slewing and tracking parameters ...");
mpars.slewRateX = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateHA").value_or(0.0);
mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDEC").value_or(0.0);
auto st_err = setSlewingParams(mpars);
if (st_err) {
errorLogging(" An error occured while setting slewing parameters: ", st_err);
} else {
logInfo(" Max HA-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateX).degrees());
logInfo(" Max DEC-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateY).degrees());
}
st_err = setTrackingParams(_mountConfig.movingModelParams());
if (st_err) {
errorLogging(" An error occured while setting tracking parameters: ", st_err);
}
logInfo("Slewing and tracking parameters have been set successfully");
using secs_t = std::chrono::duration<double>;
auto to_msecs = [](double secs) {
auto s = secs_t{secs};
@@ -147,13 +136,76 @@ Asibfm700Mount::error_t Asibfm700Mount::initMount()
logInfo(" YPIDV: [P: {}, I: {}, D: {}]", hw_cfg.devConfig.YPIDV.P, hw_cfg.devConfig.YPIDV.I,
hw_cfg.devConfig.YPIDV.D);
// auto hw_err = hardwareInit();
// if (hw_err) {
// errorLogging("", hw_err);
// }
// actually, only set this->_hardwareConfig.devConfig part and paths!!!
this->_hardwareConfig = hw_cfg;
logInfo("");
logInfo(" EEPROM data:");
if (hw_cfg.devConfig.RunModel != 1) { // load EEPROM only in REAL HARDWARE mode
// load EEPROM part
auto cfg_err = this->hardwareUpdateConfig();
if (cfg_err) {
errorLogging("Cannot load EEPROM data:", cfg_err);
return cfg_err;
}
mcc::MccAngle ang{_hardwareConfig.hwConfig.Yconf.accel}; // Sidereal defines HA-axis as Y-axis
logInfo(" HA-axis accel: {} degs/s^2", ang.degrees());
ang = _hardwareConfig.hwConfig.Xconf.accel; // Sidereal defines DEC-axis as X-axis
logInfo(" DEC-axis accel: {} degs/s^2", ang.degrees());
logInfo(" HA-axis backlash: {}", (double)_hardwareConfig.hwConfig.Yconf.backlash);
logInfo(" DEC-axis backlash: {}", (double)_hardwareConfig.hwConfig.Xconf.backlash);
logInfo(" HA-axis encoder ticks per revolution: {}",
_hardwareConfig.hwConfig.Ysetpr); // Sidereal defines HA-axis as Y-axis
logInfo(" DEC-axis encoder ticks per revolution: {}",
_hardwareConfig.hwConfig.Xsetpr); // Sidereal defines DEC-axis as X-axis
logInfo(" HA-motor encoder ticks per revolution: {}",
_hardwareConfig.hwConfig.Ymetpr); // Sidereal defines HA-axis as Y-axis
logInfo(" DEC-motor encoder ticks per revolution: {}",
_hardwareConfig.hwConfig.Xmetpr); // Sidereal defines DEC-axis as X-axis
ang = _hardwareConfig.hwConfig.Yslewrate; // Sidereal defines HA-axis as Y-axis
logInfo(" HA-axis slew rate: {} degs/s", ang.degrees());
ang = _hardwareConfig.hwConfig.Xslewrate; // Sidereal defines DEC-axis as X-axis
logInfo(" DEC-axis slew rate: {} degs/s", ang.degrees());
} else {
logWarn(" MODEL-MODE, no EEPROM data!");
}
logInfo("");
logInfo("Setup slewing and tracking parameters ...");
mpars.slewRateX = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateHA").value_or(0.0);
mpars.slewRateY = _mountConfig.getValue<mcc::MccAngle>("hwMaxRateDEC").value_or(0.0);
if (hw_cfg.devConfig.RunModel != 1) {
mpars.brakingAccelX = _hardwareConfig.hwConfig.Yconf.accel; // Sidereal defines HA-axis as Y-axis
mpars.brakingAccelY = _hardwareConfig.hwConfig.Xconf.accel; // Sidereal defines DEC-axis as X-axis
} else {
mpars.brakingAccelX = MCC_Y_ACCELERATION; // Sidereal defines HA-axis as Y-axis
mpars.brakingAccelY = MCC_X_ACCELERATION; // Sidereal defines DEC-axis as X-axis
}
auto st_err = setSlewingParams(mpars);
if (st_err) {
errorLogging(" An error occured while setting slewing parameters: ", st_err);
} else {
logInfo(" Max HA-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateX).degrees());
logInfo(" Max DEC-axis speed: {} degs/s", mcc::MccAngle(mpars.slewRateY).degrees());
logInfo(" HA-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelX).degrees());
logInfo(" DEC-axis stop acceleration braking: {} degs/s^2", mcc::MccAngle(mpars.brakingAccelY).degrees());
}
st_err = setTrackingParams(_mountConfig.movingModelParams());
if (st_err) {
errorLogging(" An error occured while setting tracking parameters: ", st_err);
}
logInfo("Slewing and tracking parameters have been set successfully");
// call base class initMount method
auto hw_err = base_gm_class_t::initMount();
auto hw_err = gm_class_t::initMount();
// auto hw_err = base_gm_class_t::initMount();
if (hw_err) {
errorLogging("", hw_err);
return hw_err;

57
asibfm700/asibfm700_mount.h
View File

@@ -16,7 +16,63 @@ namespace asibfm700
{
class Asibfm700Mount : public Asibfm700CCTE,
public Asibfm700PCM,
public mcc::MccGenericMount<AsibFM700ServoController,
mcc::MccTelemetry,
Asibfm700PZoneContainer,
mcc::MccSimpleSlewingModel,
mcc::MccSimpleTrackingModel,
Asibfm700Logger>
{
typedef mcc::MccGenericMount<AsibFM700ServoController,
mcc::MccTelemetry,
Asibfm700PZoneContainer,
mcc::MccSimpleSlewingModel,
mcc::MccSimpleTrackingModel,
Asibfm700Logger>
gm_class_t;
public:
using gm_class_t::error_t;
using Asibfm700CCTE::setStateERFA;
using Asibfm700CCTE::updateBulletinA;
using Asibfm700CCTE::updateLeapSeconds;
using Asibfm700CCTE::updateMeteoERFA;
using Asibfm700Logger::logCritical;
using Asibfm700Logger::logDebug;
using Asibfm700Logger::logError;
using Asibfm700Logger::logInfo;
using Asibfm700Logger::logWarn;
// using Asibfm700PZoneContainer::addPZone;
Asibfm700Mount(Asibfm700MountConfig const& config, std::shared_ptr<spdlog::logger> logger);
~Asibfm700Mount();
Asibfm700Mount(Asibfm700Mount&&) = default;
Asibfm700Mount& operator=(Asibfm700Mount&&) = default;
Asibfm700Mount(const Asibfm700Mount&) = delete;
Asibfm700Mount& operator=(const Asibfm700Mount&) = delete;
error_t initMount();
error_t updateMountConfig(Asibfm700MountConfig const&);
Asibfm700MountConfig currentMountConfig();
protected:
Asibfm700MountConfig _mountConfig;
std::unique_ptr<std::mutex> _mountConfigMutex;
void errorLogging(const std::string&, const std::error_code&);
};
/*
class Asibfm700Mount : public Asibfm700CCTE,
public Asibfm700PCM,
public mcc::MccGenericFsmMount<mcc::MccGenericMount<AsibFM700ServoController,
@@ -118,6 +174,7 @@ protected:
void errorLogging(const std::string&, const std::error_code&);
};
*/
static_assert(mcc::mcc_position_controls_c<Asibfm700Mount>, "");
static_assert(mcc::mcc_all_controls_c<Asibfm700Mount>, "");

2
asibfm700/asibfm700_servocontroller.cpp
View File

@@ -216,7 +216,7 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareUpdateConfig
}
AsibFM700ServoController::hardware_config_t AsibFM700ServoController::hardwareConfig() const
AsibFM700ServoController::hardware_config_t AsibFM700ServoController::getHardwareConfig() const
{
return _hardwareConfig;
}

6
asibfm700/asibfm700_servocontroller.h
View File

@@ -108,7 +108,7 @@ public:
AsibFM700ServoController(AsibFM700ServoController&&) = default;
AsibFM700ServoController& operator=(AsibFM700ServoController&&) = default;
~AsibFM700ServoController();
virtual ~AsibFM700ServoController();
/* public methods */
@@ -127,9 +127,9 @@ public:
// load config from EEPROM
error_t hardwareUpdateConfig();
hardware_config_t hardwareConfig() const;
hardware_config_t getHardwareConfig() const;
private:
protected:
hardware_config_t _hardwareConfig;
std::unique_ptr<std::mutex> _setStateMutex;