From 25438960e64e99935e67624f68514388d24d10c4 Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Sat, 2 Aug 2025 14:40:05 +0300
Subject: [PATCH] ...

---
 cxx/CMakeLists.txt               |  1 +
 cxx/asibfm700_common.h           | 35 ++++++++++++++++++++------
 cxx/mcc_fsm_mount.h              | 14 +++--------
 cxx/mcc_mount_astro_erfa.h       | 36 +++++++++-----------------
 cxx/mcc_mount_concepts.h         |  9 +++----
 cxx/mcc_mount_telemetry.h        |  5 ++--
 cxx/mcc_mount_telemetry_astrom.h |  7 ++----
 cxx/mcc_slew_model.h             |  8 +++---
 cxx/tests/astrom_test.cpp        | 43 ++++++++++++++++++++++----------
 9 files changed, 87 insertions(+), 71 deletions(-)

diff --git a/cxx/CMakeLists.txt b/cxx/CMakeLists.txt
index 4341ebf..3c61586 100644
--- a/cxx/CMakeLists.txt
+++ b/cxx/CMakeLists.txt
@@ -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)
diff --git a/cxx/asibfm700_common.h b/cxx/asibfm700_common.h
index 6490b09..5e9a666 100644
--- a/cxx/asibfm700_common.h
+++ b/cxx/asibfm700_common.h
@@ -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
diff --git a/cxx/mcc_fsm_mount.h b/cxx/mcc_fsm_mount.h
index 0f7e129..8f44492 100644
--- a/cxx/mcc_fsm_mount.h
+++ b/cxx/mcc_fsm_mount.h
@@ -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() {}
 
diff --git a/cxx/mcc_mount_astro_erfa.h b/cxx/mcc_mount_astro_erfa.h
index 018c3ea..b492b6b 100644
--- a/cxx/mcc_mount_astro_erfa.h
+++ b/cxx/mcc_mount_astro_erfa.h
@@ -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{};
diff --git a/cxx/mcc_mount_concepts.h b/cxx/mcc_mount_concepts.h
index 79a680c..9989867 100644
--- a/cxx/mcc_mount_concepts.h
+++ b/cxx/mcc_mount_concepts.h
@@ -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>;
diff --git a/cxx/mcc_mount_telemetry.h b/cxx/mcc_mount_telemetry.h
index 5446117..b3eda08 100644
--- a/cxx/mcc_mount_telemetry.h
+++ b/cxx/mcc_mount_telemetry.h
@@ -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;
diff --git a/cxx/mcc_mount_telemetry_astrom.h b/cxx/mcc_mount_telemetry_astrom.h
index bac6a20..4c34d9b 100644
--- a/cxx/mcc_mount_telemetry_astrom.h
+++ b/cxx/mcc_mount_telemetry_astrom.h
@@ -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;
diff --git a/cxx/mcc_slew_model.h b/cxx/mcc_slew_model.h
index 2093673..aad1f84 100644
--- a/cxx/mcc_slew_model.h
+++ b/cxx/mcc_slew_model.h
@@ -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
diff --git a/cxx/tests/astrom_test.cpp b/cxx/tests/astrom_test.cpp
index c58972e..e430c5c 100644
--- a/cxx/tests/astrom_test.cpp
+++ b/cxx/tests/astrom_test.cpp
@@ -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);