remove guiding model

now it are only slewing and tracking states

asibfm700/asibfm700_servocontroller.h

@@ -0,0 +1,124 @@
+#pragma once
+
+#include <mcc_defaults.h>
+#include <mcc_generics.h>
+
+#include "../LibSidServo/sidservo.h"
+
+
+namespace asibfm700
+{
+
+/*  error codes enum definition  */
+
+enum class AsibFM700ServoControllerErrorCode : int {
+    // error codes from sidservo library
+    ERROR_OK = MCC_E_OK,
+    ERROR_FATAL = MCC_E_FATAL,
+    ERROR_BADFORMAT = MCC_E_BADFORMAT,
+    ERROR_ENCODERDEV = MCC_E_ENCODERDEV,
+    ERROR_MOUNTDEV = MCC_E_MOUNTDEV,
+    ERROR_FAILED = MCC_E_FAILED,
+    // my codes ...
+};
+
+// error category
+struct AsibFM700HardwareErrorCategory : public std::error_category {
+    const char* name() const noexcept;
+    std::string message(int ec) const;
+
+    static const AsibFM700HardwareErrorCategory& get();
+};
+
+
+static inline std::error_code make_error_code(AsibFM700ServoControllerErrorCode ec)
+{
+    return std::error_code(static_cast<int>(ec), AsibFM700HardwareErrorCategory::get());
+}
+
+}  // namespace asibfm700
+
+
+namespace std
+{
+
+template <>
+class is_error_code_enum<asibfm700::AsibFM700ServoControllerErrorCode> : public true_type
+{
+};
+
+}  // namespace std
+
+
+namespace asibfm700
+{
+
+class AsibFM700ServoController final
+{
+public:
+    typedef std::error_code error_t;
+
+    enum class hardware_moving_state_t : int {
+        HW_MOVE_STOPPED,
+        HW_MOVE_SLEWING,
+        HW_MOVE_ADJUSTING,
+        HW_MOVE_TRACKING,
+        HW_MOVE_GUIDING
+    };
+
+    struct hardware_state_t {
+        static constexpr mcc::MccCoordPairKind pair_kind = mcc::MccCoordPairKind::COORDS_KIND_HADEC_APP;
+        mcc::MccTimePoint time_point;
+
+        double X, Y, speedX, speedY;
+
+        hardware_moving_state_t moving_state;
+    };
+
+
+    struct hardware_config_t {
+        // the 'char*' fields from conf_t:
+        //    wrap it to std::string
+        std::string MountDevPath;
+        std::string EncoderDevPath;
+        std::string EncoderXDevPath;
+        std::string EncoderYDevPath;
+
+        conf_t devConfig;
+        hardware_configuration_t hwConfig;
+    };
+
+    /*  constructors and destructor  */
+
+    AsibFM700ServoController();
+
+    AsibFM700ServoController(hardware_config_t config);
+
+    AsibFM700ServoController(const AsibFM700ServoController&) = delete;
+    AsibFM700ServoController& operator=(const AsibFM700ServoController&) = delete;
+
+    AsibFM700ServoController(AsibFM700ServoController&&);
+    AsibFM700ServoController& operator=(AsibFM700ServoController&&);
+
+    ~AsibFM700ServoController();
+
+    /*  public methods  */
+
+    constexpr std::string_view hardwareName() const;
+
+    error_t hardwareSetState(hardware_state_t state);
+    error_t hardwareGetState(hardware_state_t* state);
+
+    error_t hardwareStop();
+    error_t hardwareInit();
+
+    void hardwareUpdateConfig(conf_t cfg);
+    void hardwareUpdateConfig(hardware_configuration_t cfg);
+
+private:
+    hardware_config_t _hardwareConfig;
+
+    std::unique_ptr<std::mutex> _setStateMutex;
+};
+
+}  // namespace asibfm700