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This commit is contained in:
Timur A. Fatkhullin 2025-08-02 14:40:05 +03:00
parent 9bfe1c3ad5
commit 25438960e6
9 changed files with 87 additions and 71 deletions
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1
cxx/CMakeLists.txt
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@ -156,6 +156,7 @@ if (WITH_TESTS)
set(ASTROM_TEST_APP astrom_test)
add_executable(${ASTROM_TEST_APP} tests/astrom_test.cpp)
target_include_directories(${ASTROM_TEST_APP} PRIVATE ${FITPACK_INCLUDE_DIR})
target_link_libraries(${ASTROM_TEST_APP} ERFA_LIB)
set(FITPACK_TEST_APP fitpack_test)

35
cxx/asibfm700_common.h
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@ -6,9 +6,11 @@
#include "asibfm700_hardware.h"
#include "mcc_fsm_mount.h"
#include "mcc_guiding_model.h"
#include "mcc_mount_astro_erfa.h"
#include "mcc_mount_pec.h"
#include "mcc_mount_pz.h"
#include "mcc_mount_telemetry.h"
#include "mcc_slew_model.h"
@ -19,7 +21,7 @@ typedef mcc::astrom::erfa::MccMountAstromEngineERFA<mcc::MccAngle> AsibFM700Astr
typedef mcc::MccMountDefaultPEC<mcc::MccMountType::FORK_TYPE> AsibFM700PointingErrorCorrection;
typedef mcc::MccMountTelemetryData<AsibFM700AstromEngine, AsibFM700PointingErrorCorrection> AsibFM700TelemetryData;
typedef mcc::MccMountTelemetryData<AsibFM700AstromEngine> AsibFM700TelemetryData;
typedef mcc::MccMountTelemetry<AsibFM700AstromEngine,
AsibFM700PointingErrorCorrection,
@ -28,19 +30,30 @@ typedef mcc::MccMountTelemetry<AsibFM700AstromEngine,
AsibFM700Telemetry;
typedef mcc::MccSimpleSlewModel<> AsibFM700SlewModel;
typedef mcc::MccSimpleGuidingModel<> AsibFM700GuidingModel;
// typedef mcc::MccSimpleSlewModel<> AsibFM700SlewModel;
// typedef mcc::MccSimpleGuidingModel<> AsibFM700GuidingModel;
struct AsibMountControls {
AsibMountControls() : telemetry(astrometryEngine, PEC, hardware) {}
template <mcc::traits::mcc_logger_c LoggerT>
using AsibFM700SlewModel = mcc::MccSimpleSlewModel<LoggerT>;
template <mcc::traits::mcc_logger_c LoggerT>
using AsibFM700GuidingModel = mcc::MccSimpleGuidingModel<LoggerT>;
template <mcc::traits::mcc_logger_c LoggerT>
struct AsibFM700MountControls {
AsibFM700MountControls(AsibFM700MountControls&&) = default;
AsibFM700MountControls& operator=(AsibFM700MountControls&&) = default;
AsibFM700AstromEngine astrometryEngine;
AsibFM700PointingErrorCorrection PEC;
AsibFM700Hardware hardware;
AsibFM700Telemetry telemetry;
AsibFM700SlewModel slewModel;
AsibFM700GuidingModel guidingModel;
AsibFM700Telemetry telemetry{astrometryEngine, PEC, hardware};
AsibFM700SlewModel<LoggerT> slewModel;
AsibFM700GuidingModel<LoggerT> guidingModel;
std::tuple<mcc::MccAltLimitPZ<mcc::MccAltLimitKind::MIN_ALT_LIMIT>> prohibitedZones;
};
// global mount configuration
@ -52,4 +65,10 @@ struct AsibFM700Config {
AsibFM700Hardware::hardware_config_t hardwareConfig;
};
class AsibFM700Mount : public mcc::MccMount<AsibFM700MountControls<mcc::utils::MccSpdlogLogger>>
{
public:
};
} // namespace asibfm700

14
cxx/mcc_fsm_mount.h
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@ -41,7 +41,7 @@ public:
typedef decltype(mount_controls_t::slewModel) slew_model_t;
typedef decltype(mount_controls_t::guidingModel) guiding_model_t;
typedef typename slew_model_t::slew_params_t slew_params_t;
// typedef typename slew_model_t::slew_params_t slew_params_t;
/* constructors and destructor */
@ -65,24 +65,18 @@ public:
}
virtual ~MccMount()
{
logDebug("Delete MccMount class instance: thread = {}", getThreadId());
}
virtual ~MccMount() { logDebug("Delete MccMount class instance: thread = {}", getThreadId()); }
/* public methods */
void initMount()
{
this->logInfo("STATE: {}", this->currentStateID());
}
void initMount() { this->logInfo("STATE: {}", this->currentStateID()); }
void stopMount() {}
void shutdownMount() {}
void slewMount(slew_params_t params) {}
// void slewMount(slew_params_t params) {}
void startGuiding() {}

36
cxx/mcc_mount_astro_erfa.h
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@ -58,10 +58,7 @@ namespace mcc::astrom::erfa
struct MccMountAstromEngineERFACategory : public std::error_category {
MccMountAstromEngineERFACategory() : std::error_category() {}
const char* name() const noexcept
{
return "ADC_GENERIC_DEVICE";
}
const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
std::string message(int ec) const
{
@ -178,6 +175,12 @@ public:
MccMountAstromEngineERFA(engine_state_t state) : _currentState(std::move(state)) {}
MccMountAstromEngineERFA(MccMountAstromEngineERFA&&) = default;
MccMountAstromEngineERFA& operator=(MccMountAstromEngineERFA&&) = default;
MccMountAstromEngineERFA(const MccMountAstromEngineERFA&) = delete;
MccMountAstromEngineERFA& operator=(const MccMountAstromEngineERFA&) = delete;
virtual ~MccMountAstromEngineERFA() = default;
void setState(engine_state_t state)
@ -251,10 +254,7 @@ public:
/* time-related methods */
static time_point_t timePointNow()
{
return time_point_t::clock::now();
}
static time_point_t timePointNow() { return time_point_t::clock::now(); }
// templated generic version
template <mcc::traits::mcc_systime_c TpT>
@ -554,26 +554,14 @@ public:
/* helper mathods */
auto leapSecondsExpireDate() const
{
return _currentState._leapSeconds.expireDate();
}
auto leapSecondsExpireDate() const { return _currentState._leapSeconds.expireDate(); }
auto leapSecondsExpireMJD() const
{
return _currentState._leapSeconds.expireMJD();
}
auto leapSecondsExpireMJD() const { return _currentState._leapSeconds.expireMJD(); }
auto bulletinADateRange() const
{
return _currentState._bulletinA.dateRange();
}
auto bulletinADateRange() const { return _currentState._bulletinA.dateRange(); }
auto bulletinADateRangeMJD() const
{
return _currentState._bulletinA.dateRangeMJD();
}
auto bulletinADateRangeMJD() const { return _currentState._bulletinA.dateRangeMJD(); }
protected:
engine_state_t _currentState{};

9
cxx/mcc_mount_concepts.h
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@ -267,7 +267,7 @@ concept mcc_mount_hardware_c = !std::copyable<T> && std::movable<T> && requires(
/* POINTING-ERROR CORRECTION */
template <typename T>
concept mcc_mount_pec_c = requires(T t, const T t_const) {
concept mcc_mount_pec_c = requires(T t) {
requires mcc_error_c<typename T::error_t>;
typename T::coord_t;
@ -349,8 +349,6 @@ concept mcc_mount_telemetry_c = requires(T t, const T t_const) {
requires mcc_mount_telemetry_data_c<typename T::mount_telemetry_data_t>;
{ t_const.errorString(std::declval<typename T::error_t>()) } -> mcc_formattable;
{ t.update() } -> std::same_as<typename T::error_t>;
{ t.data(std::declval<typename T::mount_telemetry_data_t&>()) } -> std::same_as<typename T::error_t>;
@ -499,7 +497,8 @@ concept mcc_prohibited_zone_c =
template <typename T>
concept mcc_mount_controls_c = std::move_constructible<T> && std::movable<T> && requires(T t) {
concept mcc_mount_controls_c = requires(T t) {
// concept mcc_mount_controls_c = std::move_constructible<T> && std::movable<T> && requires(T t) {
requires mcc_astrom_engine_c<decltype(t.astrometryEngine)>;
requires mcc_mount_pec_c<decltype(t.PEC)>;
requires mcc_mount_hardware_c<decltype(t.hardware)>;
@ -536,7 +535,7 @@ concept mcc_mount_c = requires(T t) {
// requires mcc_guiding_model_c<typename T::guiding_model_t, typename T::mount_telemetry_t>;
requires mcc_guiding_model_c<typename T::guiding_model_t>;
requires std::same_as<typename T::slew_params_t, typename T::slew_model_t::slew_params_t>;
// requires std::same_as<typename T::slew_params_t, typename T::slew_model_t::slew_params_t>;
// public method
{ t.mountTelemetryData() } -> std::same_as<typename T::mount_telemetry_data_t>;

5
cxx/mcc_mount_telemetry.h
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@ -71,7 +71,7 @@ namespace mcc
/* DEFAULT TELEMETRY DATA CLASS */
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_mount_pec_c PEC_T>
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T>
struct MccMountTelemetryData {
typedef typename ASTROM_ENGINE_T::coord_t coord_t;
typedef typename ASTROM_ENGINE_T::time_point_t time_point_t;
@ -120,8 +120,7 @@ struct MccMountTelemetryData {
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T,
traits::mcc_mount_pec_c PEC_T,
traits::mcc_mount_hardware_c HARDWARE_T,
std::derived_from<MccMountTelemetryData<ASTROM_ENGINE_T, PEC_T>> DATA_T =
MccMountTelemetryData<ASTROM_ENGINE_T, PEC_T>>
std::derived_from<MccMountTelemetryData<ASTROM_ENGINE_T>> DATA_T = MccMountTelemetryData<ASTROM_ENGINE_T>>
class MccMountTelemetry : public MccMountTelemetryAstromTransform<ASTROM_ENGINE_T, PEC_T>
{
typedef MccMountTelemetryAstromTransform<ASTROM_ENGINE_T, PEC_T> base_t;

7
cxx/mcc_mount_telemetry_astrom.h
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@ -26,10 +26,7 @@ enum class MccMountTelemetryAstromTransformErrorCode : int {
struct MccMountTelemetryAstromTransformCategory : public std::error_category {
MccMountTelemetryAstromTransformCategory() : std::error_category() {}
const char* name() const noexcept
{
return "ADC_GENERIC_DEVICE";
}
const char* name() const noexcept { return "ADC_GENERIC_DEVICE"; }
std::string message(int ec) const
{
@ -83,7 +80,7 @@ namespace mcc
template <traits::mcc_astrom_engine_c ASTROM_ENGINE_T, traits::mcc_mount_pec_c PEC_T>
class MccMountTelemetryAstromTransform
{
static typename ASTROM_ENGINE_T::coord_t dummyCoord{};
inline static typename ASTROM_ENGINE_T::coord_t dummyCoord{};
public:
typedef ASTROM_ENGINE_T astrom_engine_t;

8
cxx/mcc_slew_model.h
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@ -141,6 +141,11 @@ public:
init(mount_controls);
}
MccSimpleSlewModel(MccSimpleSlewModel&&) = default;
MccSimpleSlewModel& operator=(MccSimpleSlewModel&&) = default;
MccSimpleSlewModel(const MccSimpleSlewModel&) = default;
MccSimpleSlewModel& operator=(const MccSimpleSlewModel&) = default;
virtual ~MccSimpleSlewModel()
{
logDebug(std::format("Delete 'MccSimpleSlewModel' class instance ({})", (void*)this));
@ -163,7 +168,6 @@ public:
protected:
std::atomic_bool _stopRequested{false};
std::function<error_t(const slew_point_t&)> _slewFunc{};
std::mutex _updateMutex{};
void init(auto& mount_controls)
{
@ -404,6 +408,4 @@ protected:
};
static_assert(traits::mcc_slew_model_c<MccSimpleSlewModel<>>, "");
} // namespace mcc

43
cxx/tests/astrom_test.cpp
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@ -1,23 +1,28 @@
#include <fstream>
// #include <fstream>
#include <iostream>
// #include "../mcc_coord.h"
#include "../mcc_mount_astro_erfa.h"
#include "../mcc_mount_pz.h"
#include "../mount_astrom.h"
// #include "../mount_astrom.h"
#include "../mcc_mount_pec.h"
#include "../mcc_mount_telemetry.h"
// BTA coords from maps.yandex.ru: 43.646711, 41.440732
struct tel_data_t {
typedef mcc::MccAngle coord_t;
typedef std::chrono::system_clock::time_point time_point_t;
// struct tel_data_t {
// typedef mcc::MccAngle coord_t;
// typedef std::chrono::system_clock::time_point time_point_t;
time_point_t time_point;
coord_t mntRA, mntDEC, mntHA;
coord_t mntAZ, mntALT;
coord_t mntPosX, mntPosY;
coord_t mntRateX, mntRateY;
};
// time_point_t time_point;
// coord_t tagRA, tagDEC, tagHA;
// coord_t tagAZ, tagALT;
// coord_t mntRA, mntDEC, mntHA;
// coord_t mntAZ, mntALT;
// coord_t mntPosX, mntPosY;
// coord_t mntRateX, mntRateY;
// };
int main(int argc, char* argv[])
{
@ -209,7 +214,13 @@ int main(int argc, char* argv[])
mcc::MccMinAltPZ minalt_pz(10.0_degs, state.lat);
mcc::MccMaxAltPZ maxalt_pz(85.0_degs, state.lat);
tel_data_t tdata{std::chrono::system_clock::now(), ra_o, dec_o, ha1, az1, alt1, 0.0, 0.0, 0.0, 0.0};
// tel_data_t tdata{std::chrono::system_clock::now(), ra_o, dec_o, ha1, az1, alt1, 0.0, 0.0, 0.0, 0.0};
mcc::MccMountTelemetryData<engine_t> tdata{.time_point = engine_t::timePointNow(),
.mntRA = ra_o,
.mntDEC = dec_o,
.mntHA = ha1,
.mntAZ = az1,
.mntALT = alt1};
bool ask = minalt_pz.inZone(tdata);
std::cout << "in zone? " << std::boolalpha << ask << "\n";
@ -244,7 +255,13 @@ int main(int argc, char* argv[])
std::cout << "DEC_app = " << dec_o.sexagesimal() << "\n";
tdata = {std::chrono::system_clock::now(), ra_o, dec_o, ha1, az1, alt1, 0.0, 0.0, 0.0, 0.0};
// tdata = {std::chrono::system_clock::now(), ra_o, dec_o, ha1, az1, alt1, 0.0, 0.0, 0.0, 0.0};
tdata = {.time_point = engine_t::timePointNow(),
.mntRA = ra_o,
.mntDEC = dec_o,
.mntHA = ha1,
.mntAZ = az1,
.mntALT = alt1};
jd.mjd += 1.0;
res = erfa.icrs2obs(ra1, dec1, jd, ra_o, dec_o, ha1, az1, alt1, eor);