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This commit is contained in:
Timur A. Fatkhullin
@@ -323,6 +323,125 @@ concept mcc_ccte_c = std::derived_from<T, mcc_CCTE_interface_t<typename T::error
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/* POINTING CORRECTION MODEL CLASS CONCEPT */
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template <typename T>
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concept mcc_PCM_result_c = requires(T t) {
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requires mcc_angle_c<decltype(t.dx)>;
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requires mcc_angle_c<decltype(t.dy)>;
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};
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template <mcc_error_c RetT, mcc_PCM_result_c ResT>
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struct mcc_PCM_interface_t {
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virtual ~mcc_PCM_interface_t() = default;
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template <std::derived_from<mcc_PCM_interface_t> SelfT>
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RetT computePCM(this SelfT&& self, mcc_celestial_point_c auto pt, ResT* result)
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{
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return std::forward<SelfT>(self).computePCM(std::move(pt), result);
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}
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protected:
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mcc_PCM_interface_t() = default;
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};
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template <typename T>
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concept mcc_PCM_c =
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std::derived_from<T, mcc_PCM_interface_t<typename T::error_t, typename T::pcm_result_t>> && requires {
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// the 'T' class must contain static constexpr member of 'MccMountType' type
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requires std::same_as<decltype(T::mountType), const MccMountType>;
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[]() {
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static constexpr MccMountType val = T::mountType;
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return val;
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}(); // to ensure 'mountType' can be used in compile-time context
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};
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/* MOUNT HARDWARE ABSTRACTION CLASS CONCEPT */
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template <typename T>
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concept mcc_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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{ t_const.hardwareName() } -> std::formattable<char>;
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// a type that defines at least HW_MOVE_STOPPED, HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING
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// and HW_MOVE_GUIDING compile-time constants. The main purpose of this type is a
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// possible tunning of hardware hardwareSetState-related commands and detect stop-state
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//
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// e.g. an implementations can be as follows:
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// enum class hardware_moving_state_t: int {HW_MOVE_STOPPED, HW_MOVE_SLEWING, HW_MOVE_ADJUSTING,
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// HW_MOVE_TRACKING, HW_MOVE_GUIDING}
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//
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// struct hardware_moving_state_t {
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// uint16_t HW_MOVE_STOPPED = 0;
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// uint16_t HW_MOVE_SLEWING = 111;
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// uint16_t HW_MOVE_ADJUSTING = 222;
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// uint16_t HW_MOVE_TRACKING = 333;
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// uint16_t HW_MOVE_GUIDING = 444;
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// }
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requires requires(typename T::hardware_moving_state_t type) {
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[]() {
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// mount axes were stopped
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static constexpr auto v0 = T::hardware_moving_state_t::HW_MOVE_STOPPED;
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// hardware was asked for slewing (move to given celestial point)
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static constexpr auto v1 = T::hardware_moving_state_t::HW_MOVE_SLEWING;
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// hardware was asked for adjusting after slewing
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// (adjusting actual mount position to align with target celestial point at the end of slewing process)
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static constexpr auto v2 = T::hardware_moving_state_t::HW_MOVE_ADJUSTING;
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// hardware was asked for tracking (track target celestial point)
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static constexpr auto v3 = T::hardware_moving_state_t::HW_MOVE_TRACKING;
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// hardware was asked for guiding
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// (small corrections to align actual mount position with target celestial point)
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static constexpr auto v4 = T::hardware_moving_state_t::HW_MOVE_GUIDING;
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}();
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};
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// a class that contains at least time point of measurement, coordinates for x,y axes, its moving rates and moving
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// type
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requires requires(typename T::hardware_state_t state) {
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requires mcc_time_point_c<decltype(state.time_point)>; // time point
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requires mcc_angle_c<decltype(state.X)>; // target or current co-longitude coordinate
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requires mcc_angle_c<decltype(state.Y)>; // target or current co-latitude coordinate
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requires mcc_angle_c<decltype(state.speedX)>; // moving speed along co-longitude coordinate
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requires mcc_angle_c<decltype(state.speedY)>; // moving speed along co-latitude coordinate
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requires std::same_as<typename T::hardware_moving_state_t, decltype(state.moving_type)>;
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};
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// set hardware state:
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// i.g. set positions (angles) of mount axes with given speeds
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// NOTE: exact interpretation (or even ignoring) of the given moving speeds is subject of a hardware-class
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// implementation, e.g. it can be maximal speeds at slewing ramp
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{ t.hardwareSetState(std::declval<typename T::hardware_state_t>()) } -> std::same_as<typename T::error_t>;
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// get current state
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{ t.hardwareGetState(std::declval<typename T::hardware_state_t*>()) } -> std::same_as<typename T::error_t>;
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{ t.hardwareStop() } -> std::same_as<typename T::error_t>; // stop any moving
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{ t.hardwareInit() } -> std::same_as<typename T::error_t>; // initialize hardware
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};
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/* AUXILIARY COORDINATE-TRANSFORMATON CLASS CONCEPT */
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// a concept of class that consist of the full set of coordinate transformation mount control components
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// (celestial coordinate transformation engine, mount hardware encoders readings and pointing correction model)
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// the set of methods of this class is enough to transform coordinates from ICRS to hardware and back
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template <typename T>
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concept mcc_coord_trfm_controls_c = mcc_ccte_c<T> && mcc_hardware_c<T> && mcc_PCM_c<T>;
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/* MOUNT TELEMETRY DATA CLASS CONCEPT */
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template <typename T>
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@@ -493,116 +612,6 @@ concept mcc_telemetry_c = std::derived_from<T, mcc_telemetry_interface_t<typenam
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/* POINTING CORRECTION MODEL CLASS CONCEPT */
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template <typename T>
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concept mcc_PCM_result_c = requires(T t) {
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requires mcc_angle_c<decltype(t.dx)>;
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requires mcc_angle_c<decltype(t.dy)>;
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};
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template <mcc_error_c RetT, mcc_PCM_result_c ResT>
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struct mcc_PCM_interface_t {
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virtual ~mcc_PCM_interface_t() = default;
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template <std::derived_from<mcc_PCM_interface_t> SelfT>
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RetT computePCM(this SelfT&& self, mcc_celestial_point_c auto pt, ResT* result)
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{
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return std::forward<SelfT>(self).computePCM(std::move(pt), result);
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}
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protected:
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mcc_PCM_interface_t() = default;
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};
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template <typename T>
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concept mcc_PCM_c =
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std::derived_from<T, mcc_PCM_interface_t<typename T::error_t, typename T::pcm_result_t>> && requires {
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// the 'T' class must contain static constexpr member of 'MccMountType' type
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requires std::same_as<decltype(T::mountType), const MccMountType>;
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[]() {
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static constexpr MccMountType val = T::mountType;
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return val;
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}(); // to ensure 'mountType' can be used in compile-time context
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};
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/* MOUNT HARDWARE ABSTRACTION CLASS CONCEPT */
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template <typename T>
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concept mcc_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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{ t_const.hardwareName() } -> std::formattable<char>;
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// a type that defines at least HW_MOVE_STOPPED, HW_MOVE_SLEWING, HW_MOVE_ADJUSTING, HW_MOVE_TRACKING
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// and HW_MOVE_GUIDING compile-time constants. The main purpose of this type is a
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// possible tunning of hardware hardwareSetState-related commands and detect stop-state
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//
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// e.g. an implementations can be as follows:
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// enum class hardware_moving_state_t: int {HW_MOVE_STOPPED, HW_MOVE_SLEWING, HW_MOVE_ADJUSTING,
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// HW_MOVE_TRACKING, HW_MOVE_GUIDING}
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//
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// struct hardware_moving_state_t {
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// uint16_t HW_MOVE_STOPPED = 0;
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// uint16_t HW_MOVE_SLEWING = 111;
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// uint16_t HW_MOVE_ADJUSTING = 222;
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// uint16_t HW_MOVE_TRACKING = 333;
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// uint16_t HW_MOVE_GUIDING = 444;
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// }
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requires requires(typename T::hardware_moving_state_t type) {
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[]() {
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// mount axes were stopped
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static constexpr auto v0 = T::hardware_moving_state_t::HW_MOVE_STOPPED;
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// hardware was asked for slewing (move to given celestial point)
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static constexpr auto v1 = T::hardware_moving_state_t::HW_MOVE_SLEWING;
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// hardware was asked for adjusting after slewing
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// (adjusting actual mount position to align with target celestial point at the end of slewing process)
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static constexpr auto v2 = T::hardware_moving_state_t::HW_MOVE_ADJUSTING;
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// hardware was asked for tracking (track target celestial point)
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static constexpr auto v3 = T::hardware_moving_state_t::HW_MOVE_TRACKING;
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// hardware was asked for guiding
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// (small corrections to align actual mount position with target celestial point)
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static constexpr auto v4 = T::hardware_moving_state_t::HW_MOVE_GUIDING;
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}();
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};
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// a class that contains at least time point of measurement, coordinates for x,y axes, its moving rates and moving
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// type
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requires requires(typename T::hardware_state_t state) {
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requires mcc_time_point_c<decltype(state.time_point)>; // time point
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requires mcc_angle_c<decltype(state.X)>; // target or current co-longitude coordinate
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requires mcc_angle_c<decltype(state.Y)>; // target or current co-latitude coordinate
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requires mcc_angle_c<decltype(state.speedX)>; // moving speed along co-longitude coordinate
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requires mcc_angle_c<decltype(state.speedY)>; // moving speed along co-latitude coordinate
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requires std::same_as<typename T::hardware_moving_state_t, decltype(state.moving_type)>;
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};
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// set hardware state:
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// i.g. set positions (angles) of mount axes with given speeds
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// NOTE: exact interpretation (or even ignoring) of the given moving speeds is subject of a hardware-class
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// implementation, e.g. it can be maximal speeds at slewing ramp
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{ t.hardwareSetState(std::declval<typename T::hardware_state_t>()) } -> std::same_as<typename T::error_t>;
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// get current state
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{ t.hardwareGetState(std::declval<typename T::hardware_state_t*>()) } -> std::same_as<typename T::error_t>;
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{ t.hardwareStop() } -> std::same_as<typename T::error_t>; // stop any moving
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{ t.hardwareInit() } -> std::same_as<typename T::error_t>; // initialize hardware
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};
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/* PROHIBITED ZONE CLASS CONCEPT */
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template <mcc_error_c RetT>
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@@ -831,6 +840,7 @@ concept mcc_guiding_model_c = requires(T t) {
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// = std::derived_from<T, mcc_generic_mount_interface_t<typename T::error_t, typename T::stop_reason_t>>
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// && mcc_telemetry_c<T> && mcc_pzone_container_c<T>;
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template <typename T>
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concept mcc_generic_mount_c = mcc_hardware_c<T> && mcc_telemetry_c<T> && mcc_pzone_container_c<T> && requires(T t) {
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requires mcc_error_c<typename T::error_t>;
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