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cxx/mcc_mount.h
120
cxx/mcc_mount.h
@ -24,44 +24,34 @@ namespace mcc
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{
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// mount configuration
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template <MccMountType MOUNT_TYPE>
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struct MccMountConfig {
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static constexpr MccMountType mountType = MOUNT_TYPE;
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virtual ~MccMountConfig() = default;
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};
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namespace traits
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{
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// given mount configuration class must be a descendant of MccMountConfig
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template <typename T>
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concept mcc_mountconfig_c = requires(T t) { []<MccMountType MOUNT_TYPE>(MccMountConfig<MOUNT_TYPE>*) {}(&t); };
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} // namespace traits
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template <traits::mcc_mountconfig_c MOUNT_CONFIG, traits::mcc_mount_telemetry_c MOUNT_TELEMETRY>
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// template <traits::mcc_mount_config_c MOUNT_CONFIG, traits::mcc_mount_telemetry_c MOUNT_TELEMETRY>
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template <traits::mcc_mount_config_c MOUNT_CONFIG>
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class MccMount : public fsm::MccFiniteStateMachine, public utils::MccSpdlogLogger
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{
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public:
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static constexpr auto mountType = MOUNT_CONFIG::mountType;
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typedef MOUNT_CONFIG mount_config_t;
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typedef MOUNT_TELEMETRY mount_telemetry_t;
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// typedef MOUNT_TELEMETRY mount_telemetry_t;
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typedef decltype(mount_config_t::telemetry) mount_telemetry_t;
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typedef typename mount_telemetry_t::mount_telemetry_data_t mount_telemetry_data_t;
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struct slew_param_t {
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MccCoordPairKind kind; // input coordinates type
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typedef decltype(mount_config_t::astrometryEngine) astrom_engine_t;
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typedef decltype(mount_config_t::PEC) pec_t;
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typedef decltype(mount_config_t::hardware) hardware_t;
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typedef decltype(mount_config_t::slewModel) slew_model_t;
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typedef decltype(mount_config_t::guidingModel) guiding_model_t;
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MccAngle x; // co-longitude (e.g. RA or Az)
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MccAngle y; // co-latitude (e.g. DEC or ZD)
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typedef typename slew_model_t::slew_params_t slew_params_t;
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bool stop; // stop after slewing
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};
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// struct slew_params_t {
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// MccCoordPairKind kind; // input coordinates type
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// typename mount_telemetry_data_t::coord_t x; // co-longitude (e.g. RA or Az)
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// typename mount_telemetry_data_t::coord_t y; // co-latitude (e.g. DEC or ZD)
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// bool stop; // stop after slewing
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// };
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/* constructors and destructor */
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@ -98,7 +88,7 @@ public:
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void shutdownMount() {}
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void slewMount(slew_param_t params) {}
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void slewMount(slew_params_t params) {}
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void startGuiding() {}
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@ -109,7 +99,7 @@ public:
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}
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mount_telemetry_data_t mountTelemetry() const
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mount_telemetry_data_t mountTelemetryData() const
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{
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mount_telemetry_data_t mnt_data;
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@ -125,65 +115,24 @@ public:
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/* prohibited zone related public methods */
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// add zones to mount control system
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template <traits::mcc_prohibited_zone_c ZT, traits::mcc_prohibited_zone_c... ZTs>
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template <traits::mcc_prohibited_zone_c<mount_telemetry_data_t> ZT,
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traits::mcc_prohibited_zone_c<mount_telemetry_data_t>... ZTs>
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size_t pzAddZone(ZT zone, ZTs... zones)
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{
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static constexpr auto pi2 = std::numbers::pi / 2.0;
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using tl_coord_t = typename mount_telemetry_data_t::coord_t;
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using pz_coord_t = typename ZT::coord_t;
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static_assert(std::convertible_to<tl_coord_t, pz_coord_t>,
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"TELEMETRY DATA AND PROHIBITED ZONE COORDINATES TYPES ARE NOT COMPATIBLE!");
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auto zone_ptr = std::make_shared<ZT>(std::move(zone));
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pz_funcs_t funcs{.coordPairKind = ZT::zoneCoordPairKind,
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.name = std::format("{}", zone_ptr->name()),
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.timeToFunc =
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[zone_ptr, this]() {
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auto tmry_data = _mountTelemetry.data();
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_pzFuncs.emplace_back(
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{.coordPairKind = ZT::zoneCoordPairKind,
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.name = std::format("{}", zone_ptr->name()),
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.inZoneFunc = [zone_ptr,
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this](const mount_telemetry_data_t& tmry_data) { return zone_ptr->inZone(tmry_data); },
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.timeToFunc = [zone_ptr,
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this](const mount_telemetry_data_t& tmry_data) { return zone_ptr->timeTo(tmry_data); },
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.timeFromFunc =
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[zone_ptr, this](const mount_telemetry_data_t& tmry_data) { return zone_ptr->timeFrom(tmry_data); }});
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return zone_ptr->timeTo(tmry_data.mntRA, tmry_data.mntDEC, tmry_data.utc);
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},
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.timeFromFunc =
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[zone_ptr, this]() {
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auto tmry_data = _mountTelemetry.data();
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return zone_ptr->timeFrom(tmry_data.mntRA, tmry_data.mntDEC, tmry_data.utc);
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}};
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if constexpr (ZT::zoneCoordPairKind == MccCoordPairKind::COORDS_KIND_AZALT) { // azimuth and altitude
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funcs.inZoneFunc = [zone_ptr, this]() {
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auto tmry_data = _mountTelemetry.data();
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return zone_ptr->inZone(tmry_data.mntAZ, tmry_data.mntALT);
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};
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} else if constexpr (ZT::zoneCoordPairKind ==
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MccCoordPairKind::COORDS_KIND_AZZD) { // azimuth and zenithal distance
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funcs.inZoneFunc = [zone_ptr, this]() {
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auto tmry_data = _mountTelemetry.data();
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return zone_ptr->inZone(tmry_data.mntAZ, pi2 - tmry_data.mntALT);
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};
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} else if constexpr (ZT::zoneCoordPairKind == MccCoordPairKind::COORDS_KIND_RADEC_APP) {
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funcs.inZoneFunc = [zone_ptr, this]() {
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auto tmry_data = _mountTelemetry.data();
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return zone_ptr->inZone(tmry_data.mntRA, tmry_data.mntDEC);
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};
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} else if constexpr (ZT::zoneCoordPairKind == MccCoordPairKind::COORDS_KIND_HADEC_APP) {
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funcs.inZoneFunc = [zone_ptr, this]() {
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auto tmry_data = _mountTelemetry.data();
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return zone_ptr->inZone(tmry_data.mntHA, tmry_data.mntDEC);
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};
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} else {
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static_assert(false, "UNKNOWN COORDINATE SYSTEM!!!");
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}
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_pzFuncs.emplace_back(funcs);
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if constexpr (sizeof...(ZTs)) {
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pzAddZone(std::move(zones)...);
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@ -195,6 +144,7 @@ public:
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// delete all zones from mount control system
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void pzClearZone()
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{
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// stop mount here?!!
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_pzFuncs.clear();
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}
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@ -206,9 +156,9 @@ protected:
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// a type to which the result of calling prohibited zone class methods 'timeTo' and 'timeFrom' will be converted
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typedef std::chrono::duration<double> pz_duration_t; // seconds as floating-point number
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typedef std::function<bool()> pz_inzone_func_t;
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typedef std::function<pz_duration_t()> pz_timeto_func_t;
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typedef std::function<pz_duration_t()> pz_timefrom_func_t;
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typedef std::function<bool(const mount_telemetry_data_t&)> pz_inzone_func_t;
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typedef std::function<pz_duration_t(const mount_telemetry_data_t&)> pz_timeto_func_t;
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typedef std::function<pz_duration_t(const mount_telemetry_data_t&)> pz_timefrom_func_t;
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struct pz_funcs_t {
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MccCoordPairKind coordPairKind;
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std::string name;
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@ -75,6 +75,7 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
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typename T::time_point_t; // type to represent UTC time point
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typename T::juldate_t; // type to represent Julian date
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typename T::sideral_time_t; // type to represent sideral time
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typename T::eo_t; // equation of origins
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typename T::pa_t; // type to represent parallactic angle
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typename T::refract_result_t;
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@ -153,18 +154,13 @@ concept mcc_astrom_engine_c = requires(T t, const T t_const) {
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template <typename T>
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concept mcc_mount_hardware_c = requires(T t, const T t_const) {
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requires mcc_error_c<typename T::error_t>;
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typename T::config_t;
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typename T::time_point_t;
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typename T::coord_t;
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{ t_const.id() } -> mcc_formattable;
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// hardware configuration
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{ t.setConfig(std::declval<typename T::config_t>()) } -> std::same_as<typename T::error_t>;
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{ t.getConfig(std::declval<typename T::config_t&>()) } -> std::same_as<typename T::error_t>;
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// at least contains time of measurement and coordinates for x,y axes
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// a class that contains at least time of measurement and coordinates for x,y axes
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requires requires(typename T::axes_pos_t pos) {
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requires std::same_as<decltype(pos.time_point), typename T::time_point_t>;
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requires std::same_as<decltype(pos.x), typename T::coord_t>;
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@ -173,6 +169,7 @@ concept mcc_mount_hardware_c = requires(T t, const T t_const) {
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{ t.setPos(std::declval<typename T::axes_pos_t>()) } -> std::same_as<typename T::error_t>;
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{ t.getPos(std::declval<typename T::axes_pos_t&>()) } -> std::same_as<typename T::error_t>;
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{ t.stop() } -> std::same_as<typename T::error_t>;
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};
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@ -182,7 +179,6 @@ template <typename T>
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concept mcc_mount_pec_c = requires(T t, const T t_const) {
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requires mcc_error_c<typename T::error_t>;
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typename T::coord_t;
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typename T::pec_data_t;
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// the 'T' class must contain static constexpr member of 'MccMountType' type
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requires requires {
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@ -198,9 +194,6 @@ concept mcc_mount_pec_c = requires(T t, const T t_const) {
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requires std::same_as<decltype(res.dy), typename T::coord_t>;
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};
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{ t.setData(std::declval<typename T::pec_data_t>()) } -> std::same_as<typename T::error_t>;
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{ t_const.getData(std::declval<typename T::pec_data_t&>()) } -> std::same_as<typename T::error_t>;
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{
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t.compute(std::declval<const typename T::coord_t&>(), std::declval<const typename T::coord_t&>(),
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std::declval<typename T::pec_result_t>())
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@ -210,15 +203,26 @@ concept mcc_mount_pec_c = requires(T t, const T t_const) {
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/* MOUNT STATE TELEMETRY */
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// a class that contains at least celestial (equatorial and horizontal) coordinates
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// a class that contains at least celestial (equatorial and horizontal) and harware coordinates
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template <typename T>
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concept mcc_mount_telemetry_data_c = requires(T telemetry) {
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typename T::coord_t;
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requires std::same_as<decltype(telemetry.mntRA), typename T::coord_t>; // apparent RA
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requires std::same_as<decltype(telemetry.mntDEC), typename T::coord_t>; // apparent DEC
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requires std::same_as<decltype(telemetry.mntHA), typename T::coord_t>; // hour angle
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requires std::same_as<decltype(telemetry.mntAZ), typename T::coord_t>; // azimuth
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requires std::same_as<decltype(telemetry.mntALT), typename T::coord_t>; // altitude
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// target current coordinates
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requires std::same_as<decltype(telemetry.tagRA), typename T::coord_t>; // apparent RA
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requires std::same_as<decltype(telemetry.tagDEC), typename T::coord_t>; // apparent DEC
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requires std::same_as<decltype(telemetry.tagHA), typename T::coord_t>; // hour angle
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requires std::same_as<decltype(telemetry.tagAZ), typename T::coord_t>; // azimuth
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requires std::same_as<decltype(telemetry.tagALT), typename T::coord_t>; // altitude
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// mount current coordinates
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requires std::same_as<decltype(telemetry.mntRA), typename T::coord_t>; // apparent RA
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requires std::same_as<decltype(telemetry.mntDEC), typename T::coord_t>; // apparent DEC
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requires std::same_as<decltype(telemetry.mntHA), typename T::coord_t>; // hour angle
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requires std::same_as<decltype(telemetry.mntAZ), typename T::coord_t>; // azimuth
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requires std::same_as<decltype(telemetry.mntALT), typename T::coord_t>; // altitude
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requires std::same_as<decltype(telemetry.mntPosX), typename T::coord_t>; // hardware encoder X-axis position
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requires std::same_as<decltype(telemetry.mntPosY), typename T::coord_t>; // hardware encoder Y-axis position
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};
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@ -265,70 +269,103 @@ concept mcc_slew_params_c = std::movable<T> && requires(T t) {
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// stop after slewing
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requires std::convertible_to<decltype(t.stop), bool>;
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requires requires(typename T::slew_model_t t) {
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{ t.slew(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>()) };
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};
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};
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/* GENERIC SLEW AND GUIDING MODEL */
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template <typename T, typename TelemetryT>
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concept mcc_slew_model_c = mcc_mount_telemetry_c<TelemetryT> && requires(T t) {
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typename T::error_t;
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requires mcc_slew_params_c<typename T::slew_params_t>;
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{
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t.slew(std::declval<typename T::slew_params_t>(), std::declval<TelemetryT&>())
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} -> std::same_as<typename T::error_t>;
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};
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template <typename T, typename TelemetryT>
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concept mcc_guiding_model_c = mcc_mount_telemetry_c<TelemetryT> && requires(T t) {
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typename T::error_t;
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{ t.guiding(std::declval<TelemetryT&>()) } -> std::same_as<typename T::error_t>;
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};
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/* MOUNT PROHIBITED ZONE */
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template <typename T>
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concept mcc_prohibited_zone_c = std::movable<T> && requires(T t, const T t_const) {
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typename T::coord_t;
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typename T::time_point_t;
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template <typename T, typename TelemetryDataT>
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concept mcc_prohibited_zone_c =
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mcc_mount_telemetry_data_c<TelemetryDataT> && std::movable<T> && requires(T t, const T t_const) {
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typename T::coord_t;
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typename T::time_point_t;
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// the type 'T' must define a static constexpr member of type MccCoordPairKind
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// to declarate type of coordinate pair used to describe the zone.
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// This coordinate pair must be used as input in the 'inZone' class method.
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requires requires {
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requires std::same_as<decltype(T::zoneCoordPairKind), const MccCoordPairKind>;
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[]() {
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constexpr MccCoordPairKind val = T::zoneCoordPairKind;
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}(); // to ensure that 'zoneCoordPairKind' can be used at compile-time context
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// the type 'T' must define a static constexpr member of type MccCoordPairKind
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// to declarate type of coordinate pair used to describe the zone.
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// This coordinate pair must be used as input in the 'inZone' class method.
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requires requires {
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requires std::same_as<decltype(T::zoneCoordPairKind), const MccCoordPairKind>;
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[]() {
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constexpr MccCoordPairKind val = T::zoneCoordPairKind;
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}(); // to ensure that 'zoneCoordPairKind' can be used at compile-time context
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};
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// return a name of the zone
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{ t_const.name() } -> mcc_formattable;
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// check if given coordinates are into the zone.
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// input coordinates interpretation is in according to 'zoneCoordPairKind' static constexpr member
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{
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t.inZone(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>())
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} -> std::convertible_to<bool>;
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// for given coordinates and time the method computes a time to reach the zone.
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// implementation of the method must assume that input coordinates are apparent RA and DEC at given time point,
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// while the time point is one from which computation should be performed (e.g. current time moment)
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{
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t.timeTo(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
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std::declval<typename T::time_point_t>())
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} -> mcc_time_duration_c;
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// for given coordinates and time the method computes a time to exit from the zone
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{
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t.timeFrom(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
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std::declval<typename T::time_point_t>())
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} -> mcc_time_duration_c;
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// requires for the methods above with the first argument of type
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// 'const mcc_mount_telemetry_data_c&' (const lvalue reference)
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{ t.inZone(std::declval<const TelemetryDataT&>()) } -> std::convertible_to<bool>;
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{ t.timeTo(std::declval<const TelemetryDataT&>()) } -> mcc_time_duration_c;
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{ t.timeFrom(std::declval<const TelemetryDataT&>()) } -> mcc_time_duration_c;
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};
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// return a name of the zone
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{ t_const.name() } -> mcc_formattable;
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// check if given coordinates are into the zone.
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// input coordinates interpretation is in according to 'zoneCoordPairKind' static constexpr member
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{ t.inZone(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>()) } -> std::convertible_to<bool>;
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// for given coordinates and time the method computes a time to reach the zone.
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// implementation of the method must assume that input coordinates are apparent RA and DEC at given time point,
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// while the time point is one from which computation should be performed (e.g. current time moment)
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{
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t.timeTo(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
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std::declval<typename T::time_point_t>())
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} -> mcc_time_duration_c;
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// for given coordinates and time the method computes a time to exit from the zone
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{
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t.timeFrom(std::declval<typename T::coord_t>(), std::declval<typename T::coord_t>(),
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std::declval<typename T::time_point_t>())
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} -> mcc_time_duration_c;
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// requires for the methods above with the first argument of type 'const
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// mcc_mount_telemetry_c::mcc_mount_telemetry_data_t&' (const lvalue reference)
|
||||
//
|
||||
// something like this:
|
||||
requires mcc_mount_telemetry_data_c<mcc_func_arg1_t<decltype(T::inZone)>>;
|
||||
};
|
||||
|
||||
|
||||
/* MOUNT GENERIC CONFIGURATION */
|
||||
|
||||
|
||||
template <typename T>
|
||||
concept mcc_mount_config_c = requires(T t) {
|
||||
{ t.astromEngine() } -> mcc_astrom_engine_c;
|
||||
{ t.pec() } -> mcc_mount_pec_c;
|
||||
{ t.hardware() } -> mcc_mount_hardware_c;
|
||||
// { t.astromEngine() } -> mcc_astrom_engine_c;
|
||||
// { t.pec() } -> mcc_mount_pec_c;
|
||||
// { t.hardware() } -> mcc_mount_hardware_c;
|
||||
|
||||
requires mcc_astrom_engine_c<decltype(t.astrometryEngine)>;
|
||||
requires mcc_mount_pec_c<decltype(t.PEC)>;
|
||||
requires mcc_mount_hardware_c<decltype(t.hardware)>;
|
||||
requires mcc_mount_telemetry_c<decltype(t.telemetry)>;
|
||||
|
||||
requires mcc_slew_model_c<decltype(t.slewModel), decltype(t.telemetry)>;
|
||||
requires mcc_guiding_model_c<decltype(t.guidingModel), decltype(t.telemetry)>;
|
||||
|
||||
// a std::tuple of prohibited zones
|
||||
[]<mcc_prohibited_zone_c<typename decltype(t.telemetry)::mount_telemetry_data_t>... Ts>(std::tuple<Ts...>) {
|
||||
}(t.prohibitedZones);
|
||||
};
|
||||
|
||||
|
||||
|
||||
@ -97,7 +97,7 @@ struct MccMountEventSlew : public MccMountEventBase<MountT> {
|
||||
|
||||
static constexpr std::string_view ID = "MCC-MOUNT-SLEW-EVENT";
|
||||
|
||||
using event_data_t = typename MountT::slew_param_t;
|
||||
using event_data_t = typename MountT::slew_params_t;
|
||||
|
||||
event_data_t eventData() const
|
||||
{
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
/* MOUNT CONTROL COMPONENTS LIBRARY */
|
||||
|
||||
|
||||
/* MOUNT TELEMETRY OBJECT CONCEPT AND POSSIBLE IMPLEMENTATION */
|
||||
/* MOUNT TELEMETRY OBJECT POSSIBLE IMPLEMENTATION */
|
||||
|
||||
#include <mutex>
|
||||
|
||||
@ -189,11 +189,13 @@ public:
|
||||
return TEL_ERROR_OK;
|
||||
}
|
||||
|
||||
mount_telemetry_data_t data()
|
||||
error_t data(mount_telemetry_data_t& data)
|
||||
{
|
||||
std::lock_guard lock{_updateMutex};
|
||||
|
||||
return std::move(_data);
|
||||
data = std::move(_data);
|
||||
|
||||
return TEL_ERROR_OK;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user