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This commit is contained in:
Timur A. Fatkhullin
2025-09-17 12:51:28 +03:00
parent 4e3a50acba
commit 281ceacf89
8 changed files with 259 additions and 602 deletions
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84
mcc/mcc_slewing_model.h
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@@ -20,13 +20,10 @@ enum class MccSimpleSlewingModelErrorCode : int {
ERROR_PCM_COMP,
ERROR_GET_TELEMETRY,
ERROR_DIST_TELEMETRY,
ERROR_DIFF_TELEMETRY,
ERROR_PZONE_CONTAINER_COMP,
ERROR_TARGET_IN_PZONE,
ERROR_IN_PZONE,
ERROR_NEAR_PZONE,
ERROR_TIMEOUT,
ERROR_UNEXPECTED_AXIS_RATES,
ERROR_ALREADY_SLEW,
ERROR_ALREADY_STOPPED,
ERROR_STOPPED
@@ -50,6 +47,64 @@ class is_error_code_enum<mcc::MccSimpleSlewingModelErrorCode> : public true_type
namespace mcc
{
// error category
struct MccSimpleSlewingModelCategory : public std::error_category {
MccSimpleSlewingModelCategory() : std::error_category() {}
const char* name() const noexcept
{
return "SIMPLE-TRACKING-MODEL";
}
std::string message(int ec) const
{
MccSimpleSlewingModelErrorCode err = static_cast<MccSimpleSlewingModelErrorCode>(ec);
switch (err) {
case MccSimpleSlewingModelErrorCode::ERROR_OK:
return "OK";
case MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE:
return "cannot get hardware state";
case MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE:
return "cannot set hardware state";
case MccSimpleSlewingModelErrorCode::ERROR_PCM_COMP:
return "PCM computation error";
case MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY:
return "cannot get telemetry";
case MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY:
return "cannot get target-to-mount-position distance";
case MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP:
return "pzone container computation error";
case MccSimpleSlewingModelErrorCode::ERROR_TARGET_IN_PZONE:
return "target is in prohibited zone";
case MccSimpleSlewingModelErrorCode::ERROR_NEAR_PZONE:
return "near prohibited zone";
case MccSimpleSlewingModelErrorCode::ERROR_TIMEOUT:
return "a timeout occured while slewing";
case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_SLEW:
return "already slewing";
case MccSimpleSlewingModelErrorCode::ERROR_ALREADY_STOPPED:
return "slewing is already stopped";
default:
return "UNKNOWN";
}
}
static const MccSimpleSlewingModelCategory& get()
{
static const MccSimpleSlewingModelCategory constInst;
return constInst;
}
};
inline std::error_code make_error_code(MccSimpleSlewingModelErrorCode ec)
{
return std::error_code(static_cast<int>(ec), MccSimpleSlewingModelCategory::get());
}
/*
The target celestial point must be set in telemetry->target
*/
@@ -77,7 +132,7 @@ public:
t_err = controls->telemetryData(&tdata);
if (t_err) {
return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
}
}
@@ -85,7 +140,7 @@ public:
auto pz_err = controls->inPZone(tdata.target, &in_zone);
if (pz_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if (in_zone) {
@@ -117,7 +172,7 @@ public:
auto hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
hw_state.X = (double)tdata.target.X;
@@ -141,7 +196,7 @@ public:
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
std::chrono::steady_clock::time_point start_slewing_tp, last_adjust_tp;
@@ -164,7 +219,7 @@ public:
if (t_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_GET_TELEMETRY);
}
}
@@ -186,8 +241,7 @@ public:
pz_err = controls->inPZone(cpt, &in_zone);
if (pz_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(pz_err,
MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
return mcc_deduce_error_code(pz_err, MccSimpleSlewingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if (in_zone) {
@@ -208,13 +262,13 @@ public:
hw_err = controls->hardwareGetState(&hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_GETSTATE);
}
t_err = controls->targetToMountDist(&dist);
if (t_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
return mcc_deduce_error_code(t_err, MccSimpleSlewingModelErrorCode::ERROR_DIST_TELEMETRY);
}
if (*_stopSlewing) {
@@ -239,8 +293,8 @@ public:
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err,
MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
return mcc_deduce_error_code(hw_err,
MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
}
} else if constexpr (mccIsAltAzMount(CONTROLS_T::mountType)) {
@@ -274,7 +328,7 @@ public:
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopSlewing = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
return mcc_deduce_error_code(hw_err, MccSimpleSlewingModelErrorCode::ERROR_HW_SETSTATE);
}
last_adjust_tp = now;