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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
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57
asibfm700/asibfm700_mount.h
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@@ -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>, "");