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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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89
mcc/mcc_tracking_model.h
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@@ -20,12 +20,8 @@ enum class MccSimpleTrackingModelErrorCode : int {
ERROR_PCM_COMP,
ERROR_GET_TELEMETRY,
ERROR_DIST_TELEMETRY,
ERROR_DIFF_TELEMETRY,
ERROR_PZONE_CONTAINER_COMP,
ERROR_IN_PZONE,
ERROR_NEAR_PZONE,
ERROR_TIMEOUT,
ERROR_UNEXPECTED_AXIS_RATES,
ERROR_ALREADY_TRACK,
ERROR_ALREADY_STOPPED,
ERROR_STOPPED
@@ -49,6 +45,63 @@ class is_error_code_enum<mcc::MccSimpleTrackingModelErrorCode> : public true_typ
namespace mcc
{
// error category
struct MccSimpleTrackingModelCategory : public std::error_category {
MccSimpleTrackingModelCategory() : std::error_category() {}
const char* name() const noexcept
{
return "SIMPLE-TRACKING-MODEL";
}
std::string message(int ec) const
{
MccSimpleTrackingModelErrorCode err = static_cast<MccSimpleTrackingModelErrorCode>(ec);
switch (err) {
case MccSimpleTrackingModelErrorCode::ERROR_OK:
return "OK";
case MccSimpleTrackingModelErrorCode::ERROR_CCTE:
return "coordinate transformation error";
case MccSimpleTrackingModelErrorCode::ERROR_HW_GETSTATE:
return "cannot get hardware state";
case MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE:
return "cannot set hardware state";
case MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP:
return "PCM computation error";
case MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY:
return "cannot get telemetry";
case MccSimpleTrackingModelErrorCode::ERROR_DIST_TELEMETRY:
return "cannot get target-to-mount-position distance";
case MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP:
return "pzone container computation error";
case MccSimpleTrackingModelErrorCode::ERROR_NEAR_PZONE:
return "near prohibited zone";
case MccSimpleTrackingModelErrorCode::ERROR_ALREADY_TRACK:
return "already tracking";
case MccSimpleTrackingModelErrorCode::ERROR_ALREADY_STOPPED:
return "tracking is already stopped";
default:
return "UNKNOWN";
}
}
static const MccSimpleTrackingModelCategory& get()
{
static const MccSimpleTrackingModelCategory constInst;
return constInst;
}
};
inline std::error_code make_error_code(MccSimpleTrackingModelErrorCode ec)
{
return std::error_code(static_cast<int>(ec), MccSimpleTrackingModelCategory::get());
}
class MccSimpleTrackingModel
{
public:
@@ -83,7 +136,7 @@ public:
auto t_err = controls->telemetryData(&tdata);
if (t_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
return mcc_deduce_error_code(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
}
@@ -95,8 +148,7 @@ public:
// compute intersection points with the prohibited zones
auto pz_err = mcc_find_closest_pzone(controls, tdata, &intsc_coords);
if (pz_err) {
return mcc_deduce_error<error_t>(pz_err,
MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
@@ -151,14 +203,14 @@ public:
auto ret = controls->transformCoordinates(std::move(pt), point);
if (ret) {
return mcc_deduce_error<error_t>(ret, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
return mcc_deduce_error_code(ret, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
} else {
MccPCMResult pcm_inv_res;
// endpoint of the mount moving
auto pcm_err = controls->computeInversePCM(target_in_future_pt, &pcm_inv_res, &hw_state);
if (pcm_err) {
return mcc_deduce_error<error_t>(pcm_err, MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP);
return mcc_deduce_error_code(pcm_err, MccSimpleTrackingModelErrorCode::ERROR_PCM_COMP);
}
mcc_tp2tp(tdata.time_point, hw_state.time_point);
@@ -171,7 +223,7 @@ public:
auto pz_err = update_pzones_ipoint();
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
hw_state.moving_state = CONTROLS_T::hardware_moving_state_t::HW_MOVE_Tracking;
@@ -182,7 +234,7 @@ public:
auto ccte_err = target_point(&target_in_future_pt);
if (ccte_err) {
*_stopTracking = true;
return mcc_deduce_error(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
}
if constexpr (mccIsEquatorialMount(CONTROLS_T::mountType)) {
@@ -195,7 +247,7 @@ public:
auto hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
return mcc_deduce_error_code(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
@@ -210,7 +262,7 @@ public:
if (t_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
return mcc_deduce_error_code(t_err, MccSimpleTrackingModelErrorCode::ERROR_GET_TELEMETRY);
}
}
@@ -225,8 +277,7 @@ public:
}
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(pz_err,
MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
return mcc_deduce_error_code(pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
if (*_stopTracking) {
@@ -246,8 +297,8 @@ public:
pz_err = update_pzones_ipoint();
if (pz_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(
pz_err, MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
return mcc_deduce_error_code(pz_err,
MccSimpleTrackingModelErrorCode::ERROR_PZONE_CONTAINER_COMP);
}
}
@@ -255,7 +306,7 @@ public:
auto ccte_err = target_point(&target_in_future_pt);
if (ccte_err) {
*_stopTracking = true;
return mcc_deduce_error(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
return mcc_deduce_error_code(ccte_err, MccSimpleTrackingModelErrorCode::ERROR_CCTE);
}
}
@@ -264,7 +315,7 @@ public:
hw_err = controls->hardwareSetState(hw_state);
if (hw_err) {
*_stopTracking = true;
return mcc_deduce_error<error_t>(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
return mcc_deduce_error_code(hw_err, MccSimpleTrackingModelErrorCode::ERROR_HW_SETSTATE);
}
}